EP1809447A2 - Parallel kinematic device - Google Patents

Abstract

The invention relates to the kinematic connection of a fixed platform (2) to a mobile platform (3) comprising up to six degrees of freedom in closed kinematic chains, (parallel kinematics), the connecting elements being rods, (actuators) of adjustable length, optionally consisting partially of rods of a constant length, (passive rods) and optionally cables. The invention is characterised in that three connecting elements of this type engage with a common point of one of the platforms (2, 3), forming a triple point (P3). In embodiments of the invention, said triple point can be configured as a pseudo triple point to produce a simple mechanical configuration, without losing the advantages of the invention. The inventive kinematics can be used for lifting tables, tackle for overhead conveyors, lifting robots, articulated arm-type robots, excavators, mills, cutting devices etc..

Description

 Parallel kinematic device

The invention relates to mechanical paralleMnematic devices comprising at least two fixed components movable along several degrees of freedom, a fixed platform and a movable platform, such as lifting tables, Hän¬ webs, lifting robots, articulated robots, excavators, milling, cranes, cutting devices, measuring devices, handling robots , Etc..

All of these latter problems have been solved for a long time by the so-called "serial kinematics" problem of sufficiently accurate and rapid movement along several degrees of freedom between a base or base platform and fixed platform and a work platform or mobile platform or end platform the basic platform, which is usually but not necessarily (eg overhead track) arranged fixed space in an inertial system moves a structure along a degree of freedom, on this structure another structure to another degree of freedom, etc., to the end, depending on the number the necessary degrees of freedom and according to many structures, the end platform is reached, for example, in the case of a machine tool has the desired tool, in the case of a conveyor the conveyed carries etc. This serial kinematics has proven itself many times, especially because it is possible, the aneinand he ranked degrees of freedom to "orthogonalize" i. a movement along one degree of freedom influences the position of the end platform only in its direction, but the position remains constant with respect to all other directions. This allows a simple and intuitive control and governing mechanism for the movement.

The disadvantage but the additions of all tolerances in all applicable variable RICH are obligations to provide the high to moving dead masses of the ^various' between platforms and the need for specially designed elements for the individual degrees of freedom. One thinks only of a milling machine, in which support is moved along a rail by means of a spindle, whereupon a carriage with a suitable adjusting device is moved normal to the spindle axis on the support etc ..

Other solutions to this fundamental problem have long been from tire testing machines, the so-called Gough platforms, and flight simulators for moving the cabin, which represents the cockpit, to their inventor Stewart platform called, known. This alternative kinematics was given the name "parallel kinematics" because a parallel (actually simultaneous) actuation of all drives along all axes is necessary for the targeted movement of the end platform, and because in general all of them are. It requires a high amount of control and regulation (and thus computational effort) for the desired movement of the movable platform.

The computational effort is particularly driven by the fact that there are no closed solutions for the control and therefore it must be calculated iteratively. This leads in particular to long distances of the movable platform, be it angles or lengths, nor to the problem of far more linearly increasing computing work and the problem of not (easily) recognizable branching of the solutions. Such a branch can lead to the actuators (actuator, usually rods, if appropriate also ropes or the like) whose length is variable or whose base, that is the articulation point on the fixed platform, being movable, but from the US Pat 5,966,991 A is also a rotary parallel kinematic known) are operated incorrectly and it comes to the collision of bars.

How to easily recognize from the requirement that each actuator should specify only one degree of freedom, but should not affect the other five, extremely expensive, highly accurate and therefore expensive bearings for each of the drives are necessary.

To illustrate this:

In a device with all six degrees of freedom between the fixed and the moving platform requires six rods, each of which must be free in five degrees of freedom, thus thirty directions of movement as accurate as possible and thus vor¬ spanned to realize, for example, two universal joints and an axis - Radial bearing per rod or one universal joint and one ball joint per rod. This is accompanied by the problematic calibration of parallel kinematics, which includes the consideration of mechanical inaccuracies in the computer model for controlling the movement of the individual rods. The problem of calibration has been addressed in the work: Kinematics, Dynamics and Design of Machinery by Kenneth J. Waldron and Gary L. Kinzel dedicated. Also shown on page 419 is orthogonalized 3-2-1 kinematic, in which the six rod shaped actuators are each parallel to the axes of a Cartesian coordinate system, with three of the rods being journalled at one point on the movable platform, two more in another point of the moving platform and finally the last one by itself. This arrangement is considered to be advantageous for extremely small movements because of the possibility of considering the position and length of all other rods to be constant in the calculation of the consequences of the change in length of a rod, whereby the equations of motion are decoupled. This is only possible for such minor changes as they do not occur in practice.

Other works that are theoretically concerned with calibration are the study published after the priority of this application in November 2004: "New 6-DOF parallel robotic structure actuated by wires" dealing with the question of the deviation of the actual position of a moving platform , which is suspended on six ropes, is occupied by the calculated position due to various tolerances and errors.The kinematics itself is always a hanging Stuartplattfoπn.

Also another document: "Coordinate-free formulation of a 3-2-1 wire-based tracking device" by Federico Thjomas, Erika Ottaviano, Lluis Ros and Marco Ceccarelli, deals exclusively with the problems of determining a hanging platform, whereby 3-2-1 kinematics in comparison to 2-2-2 kinematics is explained, but only different singularities and the effects of tolerances and their mathematical treatment are explained, but it has to be stated that (page 2, cross-column ) states that the motion equations of such a 3-2-1 kinematics can be determined in closed form and lead to eight solutions, which represents the minimum solution number for directly kinematic devices with six degrees of freedom.

It is this publication due to its theoretical nature without any reference to a practical implementation and also without reference to a possible transformation into a rod kinematics without great value for such. After all, only the various problems should be treated theoretically with this work, which is why this lack does not represent a defect, but is in conformity with the system. The article "Uncertainty model and singularities of 3-2-1 wire-based tracking systems" by the same authors as the above document deals exclusively with the problems that arise when certain cord lengths are not well known and different angular positions exist, leading to singularities could lead. It is for this reason that this document has no relevance to practical parallel kinematics.

The DE 102 57 108 A, which is based on the applicant, relates to a trolley with a support frame for a car body od.dergl., Where the connection between the running cat and the support frame via two zigzag arranged frame, which about two horizontal axes parallel to each other are pivotable. By means of ropes on the one hand, the position of the lower axis to the trolley and on the other hand, the position of the support frame with respect to this axis determined. If one interprets this arrangement as Parallel¬ kinematics with two degrees of freedom, so it represents a highly interesting hybrid system of rope kinematics and rotational parallel kinematics, but has no connection with a parallel kinematics with variable-length actuators.

EP 1 106 563 A, issued in the meantime and caught in an opposition proceedings, discloses a cable kinematics with at least one stabilizing cable running obliquely to the vertical tethers. The points of articulation of the cables are selected according to constructive criteria: space requirements of the rollers, reels and motors, etc. and not according to kinematic principles.

DE 101 00 377 A, which also relates to the Applicant, relates to a submersible robot for painting systems of vehicle bodies. This diving robot is designed in the form of a four-bar linkage, where the carriage on the base and on to be painted

Vehicle, the coupling is formed, the two cranks have the same length, so that it is possible to move the four-bar linkage in the manner of a Gelenkparallelogramms. Added to this is that on one of the two cranks, this is disclosed for the rear viewed in the direction of travel crank, the end in turn is freely rotatable relative to the rest of the crank, whereby various inclinations of the body are made possible. In

Combined with the operation of the rear crank can be a whole series of Execute movements, but all these movements exclusively affect the so-called level kinematics.

If one wanted to address this device as parallel kinematics, then it would be a purely rotary parallel kinematic, in addition to that there is inevitably a serial kinematics due to the subdivision of the rear crank.

DE 101 03 837 A, which is likewise based on the Applicant, relates, like the afore-mentioned document, to a painting device for vehicle bodies and an exclusively plane kinematics. As a special feature that can actually be regarded as a kind of parallel kinematics, the type of pivoting of the vehicle center of gravity around the transporting carriage in conjunction with the rotation of the vehicle about a transverse axis is to be regarded.

These rotations are made on the one hand by a crank and on the other hand by a Gelenkparallelogramm, which causes the rotation of the body around the end of the crank to which it is attached. Thus, this kinematics can be regarded as a kind of rotational parallel kinematics, but such an approach quickly leads to great conceptual difficulties, considering that there is no firm platform for the following reasons: The ends of the parallelogram which are themselves located on the side of the trolley and should actually form the solid platform, so move with respect to the actually solid platform, which is formed by the base of the swing arm, also. So here too there is a serial kinematic section in the area of a partial parallel kinematics.

WO 03/004223 A, the content of which is hereby incorporated by reference into the content of this application, is an extensive pamphlet which relates to a quite astonishing device, namely a centrally symmetric, parallel rod kinematics which is actuated by a base point displacement. In addition, the illustrated embodiment has a rotating mechanism for a tool platform on the movable platform, this serially formed rotating mechanism is actuated by a rotary rod and a motor via a corresponding clutch. The possibility of using kinematic overdetermined systems and foot-point mechanisms in grain combination with variable-length actuators. The structure of this device is as follows: On the fixed platform centrally symmetrical six vertical rails for the displacement of the foot points are provided. Three bars are longer, three shorter, the shorter ones engage a "lower" area of the movable platform and are offset by 60 ° with respect to the longer bars.

This achieves a substantially movable along the central axis movable platform, which is also occupied by Fig. 4 of this document. This shows the arrangement of the configuration described above to make it more mobile, on a Stuartplattform, thus the serial coupling of two parallel kinematics. Interestingly, in this embodiment, however, the movement of a parallel kinematics is not used at all for the movement of the others, i. The entire movement of the second parallel kinematics takes place on its own on the intermediate platform, so that there is actually only one aggregation and no combination.

WO 03/059581 A, the contents of which are hereby incorporated by reference into the content of this application, relates to an original kinematics which operates on the basis of the base point shift, wherein different force corners or shears are provided. Under a force corner are two attacking at a common point rods or actuators to understand under power scissors or short scissors, a force with at least one actuator. In this document, the force corner or scissors but their double joint not on the movable platform, but on actuators that cause the Fußpunktverschiebung. These actuators operate essentially rotationally, so that ultimately a serial element is introduced into the kinematics by the special design of the Fußpunktverschiebung. This is also apparent from a comparison of FIGS. 2 and 3, since FIG. 3 shows the base shift in almost perfect analogy to WO 03/004223 A discussed above.

For the movement of larger loads or the transfer of greater forces from this document nothing exemplary can be seen, since the redirection of the forces between the movable base points and the actuators that perform this Fußpunktbewegung even more between the levers that get the Fußpunktverschiebung and their Handrail is extremely unfavorable. This is also for larger work areas Device not to use, since their relative space requirement (space requirement / working volume) is very large.

An excellent overview of the historical development and the basics of parallel kinematic devices, including the most important patents, can be found in the article "The True Origins of Parallel Robots" on the homepage http://www.parallemic.org of "The Parallel Mechanisms Information Center" ".

All of the above-mentioned problems and shortcomings of practical parallel kinematic devices in practice are probably the reasons why, despite the aforementioned and recognized advantages, the first prototype of a parallel-kinematical machine tool was not introduced until 1994 at the IMTS in Chicago.

On closer inspection, it is also noticeable that the parallel kinematics suffers from the problem of allowing only slight pivoting angles, otherwise the bars come into each other's enclosure, and that there are positions between the two platforms in which the

Parallel kinematics takes a position that corresponds to a so-called singularity, from which it can not be solved by itself. Also the big relative

Space requirement of the parallel kinematics according to the prior art is to mention, so even in 2003 fully developed and produced machine tools have a working space of 0.6 x 0.6 x 0.6 m, a cubature of 3.5 x 3, 5 x 3.5 m.

Despite these disadvantages, the parallel kinematics come for many applications, in particular when high dynamics of movement and high repeatability of the positions to be traveled or the paths to be traveled are required and especially, if these requirements are accompanied by the need for high rigidity of the design, more and more for the application. The outstanding ratio of moveable load to dead weight, which reaches up to 2: 1, while serial kinematics achieve only 1:20, resulting in noticeable energy savings, has played an important part in the desire to increasingly use parallel kinematics.

In addition, the individual parts of the parallel kinematics have only a low mechanical complexity and that in many cases for all or at least one The plurality of degrees of freedom identical components can be used kön¬ NEN, so that the structure of the parallel kinematics in itself is simple and inexpensive.

With regard to this simple and modular structure, but also for the other mentioned properties, reference is made to the so-called DELTA robot, the Hexapod and the IRB 940 Tricept.

A structure which is kinematically completely identical to the hexapod, which was at that time long known, but which was nevertheless patented, is known from EP 1 095 549 B, corresponding to DE 199 51 840 A: It relates to a three-point hitch for a towing vehicle which can be moved by means of six adjustable in length bars in six degrees of freedom with respect to the towing vehicle. For the purpose of the nomenclature of this description, the towing vehicle corresponds to the fixed platform and the hitch of the mobile platform.

An application of parallel kinematics to so-called micromanipulators with ranges of motion of a few millimeters or even below, but high starting accuracy, is known from the US Pat. No. 6,671,975 B and US Pat. No. 6,769,194 B, which originate from a joint application. The device is based on the Hexapod and improves the precision of the length changes of the rods by the use of piezo elements.

A particular type of kinematics that does not fall under the parallel kinematic but is to be cited for its further development is known in the art, illustrated in FIG. 94 of the present specification and will be discussed in more detail below: It is a robot with a On this fixed platform, pivotable about a horizontal axis by means of a motor, a substantially pivotable between vertical position and almost horizontal position support arm is arranged at the free end of a tool holder to one of said horizontal In the case of conventional robots of this design, for example by KUKA, a servomotor is provided between the arm and the tool holder, which determines the angular position. In a similar known robot from ABB, explained in more detail in the present description with reference to FIG. 95, the servomotor is arranged at the lower end of the arm to avoid the arrangement of the weight of the servomotor on the moving tool holder and actuated via a radial stub an actuating arm which is parallel extends to the support arm and hinged at a suitable point of the tool holder. Thus, the actuator arm and the support arm could be considered as rods and the tool holder as a movable platform, but the movement and positioning by pure torque load of the rods (then the actual load as pressure or bending load) is achieved, so here despite the bars and the nature of their arrangement, there is a rotary parallel kinematic (if any parallel kinematic) similar to that described in the above-referenced US 5,966,991A.

Based on this prior art, it is an object of the invention to provide a parallel kinematic for the application areas mentioned above, based on the combination of actuators (rods acting by Fußpunktverschiebung constant length or variable-length rods, possibly also variable-length ropes or other traction means) and passive rods in particular, the problems of complex control and storage should be avoided or at least significantly reduced.

According to the invention, this is achieved by the fact that in the kinematic chain, at least at one point, three bars act or end directly or indirectly at one point, a so-called triple point or pseudo-triple point. As a result, the linear degrees of freedom are defined, the mathematical solution of the control is closed, thereby substantially, compared to the open solutions according to the prior art, usually by a factor of one thousand, simplified, and is for example on the trigonometric Darstell¬ bar. In addition, the motion sequence of the kinematic chains also becomes much clearer, and the questions of the collision of the individual components and the occurrence of singularities can be assessed without complex analyzes.

The term direct or indirect was chosen, since it suffices for the practical technical execution completely, if one (or two) of the three bars attacks just at the end of one of the other two bars or all three in direct mutual Neighborhood are hinged to the platform or if there are other combinations of the possibilities of arranging the attack points.

Although a bending moment is thereby induced in a rod, the practical design of the bearing is simplified and its possible pivoting angles are significantly increased, without aborting the simplification of the arithmetic work or the basis of the invention, namely the definition of the linear degrees of freedom. For triple points, depending on the movement of the suitably defined power corner, either a true colon may be formed in combination with a point of attack of the third bar near the colon, or a simple point of attack with two bars engaging in the vicinity of the first bar. In special cases, two or all three bars can attack in close proximity to the movable platform, then although an iterative calculation can not be completely dispensed with, but this concerns only small angles / paths and is orders of magnitude simpler and faster than in the prior art ,

If this indirect design is used at triple points in the area of the fixed platform, the mathematical advantages are partly lost since the position of the base of the bar connected in this way changes with the position of the bar on which it is articulated. The mechanical advantages, in particular the bearing concerning, but fully maintained. It may optionally be carried out after the closed solution for the triple point an iterative calculation of the exact end position, but this concerns only short ways and is therefore iteratively possible without much effort and in any case without the above problems. For mechanical reasons, it is preferred that the rod subjected to flexing should be that which, after analyzing the underlying problem, turns out to be the least loaded of the entire kinematic device, often simply called "kinematics".

An advantageous development of the invention is to use a so-called over-defined or over-determined kinematics. In order to increase the rigidity of the device, the movable platform, which is often favorable, can be lighter and thus less rigid, because it is stabilized by overdetermined fixation and because, at least to some extent, this is necessary tolerances to compensate for the overdetermined guidance and thus to prevent damage to the bearings or the actuators (drives, transmissions and executive bodies in their entirety).

A further advantageous variant of the invention, which does not conflict with the above, is to "save" by means of bearings for individual rods that do not allow all-round movement (universal joint instead of spherical bearing), and to accept bending stresses for this purpose. This additional mechanical stress is easy to master in many fields of application in which no large forces occur, for example in the guidance of a laser head for cutting material, and reduces the effort and space required once more.

A further embodiment of the invention is to arrange and select the other three necessary bars according to the specific system requirements after the determination of the three converging in a triple point rods. It is particularly favorable here to provide a further pair of pointers or force (two rods that attack at one point) and a single rod. Thus, the mathematical effort necessary for the control of the movement reduces dramatically again and in mechanical terms, such an arrangement allows the use of synchronizing elements, guides, etc ..

In the following description and claims, a "triple point" is always used for better readability, unless the variant approaching near the point, the so-called "pseudo-triple point" is specifically explained or if the differences between triple point and pseudo-point Triple point play a notable role.

In a number of cases, one or more rods and / or actuators can be replaced by traction means such as ropes, chains, belts, etc., this does not change the invention itself. It also does not matter in many applications, whether single or multiple actuators are used as variable-length rods or rods of constant length, but with Fußpunktverschiebung (rare head shift, because of the increasing mathematical effort). The expert in the field of parallel kinematics, knowing the invention, can easily make the appropriate choice make in the description and claims will therefore not be discussed in more detail.

The invention will be explained in more detail below with reference to the drawing. FIG. 8 shows a triple point, FIG. 9 shows an enlarged view of a detail of the triple point of FIG. 8, FIG. 10 shows a variant of a pseudo-triplet point in a view corresponding to the view of FIG. 8, FIG. 11 a detail of FIG. 10, FIG. 12-24 variants of lift tables according to the invention, FIG. 25-32 variants of a monorail according to the invention, FIGS. 33-38 a first variant of a lifting robot, Figs. 39-42 a second variant of a lifting robot, Fig. 43-49 a kinematics with articulated arm in a first operating mode, Fig. 50-53 the above kinematics in a second operating mode, Fig. 54-64 a first development of kinematics with articulated arm, Figs. 65-68 a second development of kinematics with articulated arm, Figs. 69-71 a third development of kinematics with articulated, Figs. 72-79 a first variant of a two-stage Kinematic with a bent arm, Figs. 80-90 a second variant of a two-stage kinematics with articulated arm, Fig. 91 a first variant with a specially designed movable platform, Fig. 92 shows a second variant with a specially designed movable platform, Fig. 93 a 94-95 robot according to the prior art, FIGS. 96-97 a first robot according to the invention, FIGS. 98-99 a first embodiment of the first robot, FIG. 100 a second embodiment of the first robot, Fig. 101 shows a combination of the two embodiments, Fig. 102-105 a first variant of a second robot, Fig. 106-108 a second variant of the second robot, Fig. 109-112 a particularly torsionally stiff kinematics, 113-117 a first embodiment of the torsionally rigid kinematics, Figs. 118-122 a second embodiment of torsionally stiff kinematics, Figs. 123-127 a combination of the two latter embodiments, Figs. 128-132 a first embodiment of a particular torsionally stiff kinematics and Figs. 133-137 a development of the latter embodiment.

Basic explanation of the basic principle of the invention:

In Fig. 1 is a purely schematic representation of an inventive parallel kinematics is shown, which is designated in its entirety by 1. As explained at the beginning of the description, such a kinematics connects a fixed platform 2 with a movable one

Platform 3, wherein, in contrast to the serial kinematics, no intermediate platforms are provided. The term "fixed platform" does not necessarily mean that it rests in an inertial system, it is only distinguished by this designation, from which platform the movement takes place within the considered system.

In this way one achieves that the total kinematics in parallel kinematic consists of closed chains, i. there are several closed systems of bars that go one way from one platform to another and back again from that other platform on one way. This is, one only thinks of the tool guidance of a lathe, in the case of serial kinematics completely excluded and with a reason for the higher stiffness but also the more complex motion mathematics of parallel kinematics. According to the invention, this complexity is drastically reduced without dispensing with the advantages of parallel kinematics in that at least one articulation point is provided, from which three rods originate.

In Fig. 1, a parallel kinematic 1 is shown, in which a fixed platform 2 is connected by means of six bars Sl to S6 with a movable platform 3. This parallel kinematics 1 has a so-called triple point P3, it is provided on the movable platform 3. By forming the triple point P3, a structure is created from the rods S1, S2 and S5 articulated there, which is referred to as a "pointer pair" or "force corner" and has an additional rod. De facto be in this Point actually three pointer pairs formed, namely in each case the combination S1-S2, S1-S5 and S2-S5. In the illustrated embodiment, a further pair of pointers is provided, which is formed by the rods S3 and S4, both at the point P2, which, like the point P3, is arranged on the movable platform 3. Another colon, P2 'is formed on the fixed platform 2 by the bars S4 and S5.

By appropriate arrangement of each "other" ends (feet) of the bars Sl, S4 and S2, S3 remain these two pairs of pointers in a whole set of common in the art applications and movements always in parallel to each other and therefore can also a common motion description and thus be subject to regulation.

The last, individually arranged bar S6, which runs without restriction of generality in the position shown normal between the two platforms, now determines the last degree of freedom and defines the position of the movable platform 3 relative to the fixed platform 2 final.

If the structure thus constructed is now viewed from its kinematics, it is clear that the position of the point P3 (always, without it being specified in the further description) is always given by the respective length of the bars S1, S2 and S5. relative to the fixed platform 2, whether it is actually part of an inertial system or in turn movable in such a way), and that the respective length of the other three rods S3, S4 and S6 defines the angular position of the movable platform.

Since the practical design of a bearing in which three rods are to be spherically fixed is expensive (FIG. 9) and the permissible pivot angles of the three rods are strongly limited by the necessary bearing surfaces, in practice there is still no 3-2 -1 Kinematics, the theoretical treatises mentioned at the beginning did not echo. However, it is readily possible and permissible for the technical applicability according to a fundamental aspect of the invention, and is regarded as a mechanically full alternative to let one of the three bars engage another of the three bars (alternative point A), as shown in FIG. 2 is shown. The mechanical stress of the rod, which acts on the other (in the illustrated embodiment, the rod Sl) can be kept within the limits specified by the description in the introduction, the mathematical simplifications remain as good as fully preserved and the problem of storage of Bars at the platform are completely bypassed. In the description and the drawings, this formation of the triple point P3 is referred to as a pseudo-triplet point P'3, the differences are only discussed where they are relevant or explained in detail.

Fig. 3 shows a further embodiment in the direction as it was made between the Fig. 1 and Fig. 2. In this variant, unbundling of the colons P2 is also performed in a completely analogous manner for unbundling the triple point P3, which in the variant of FIG. 2 has become a colon P2 and an alternative point A. In this case, the colon P2 'of the rods S4 and S5 was unbundled at the fixed platform 2, on the resulting mathematical problems has already been noted above. Thus, this construction consists only of the usual attachment points, which in themselves bear no reference numerals, and the alternative points A. Analogously to the change in the designation of a triple point P3 to P'3, a combination of such a normal attachment point and an alternative point designated P '2.

Seen from the simplification compared to the parallel kinematic according to the prior art, the variant of FIG. 4 is completely equivalent to the variant of FIG. 3, but more advantageous from the mathematical point of view, since the bar S5 also has a fixed base on the fixed platform 2 and therefore mathematically easier to describe than in a movable base according to FIG. 3. In this case, the attachment point of the rod S5 on the fixed platform 2 is not moved as in Fig. 3 on the rod S4, but as a separate attachment point in the immediate vicinity the attachment point of the rod S4. This preserves all mechanical advantages over the prior art, the mathematical representation of the movement remains simplified and fully preserved, the name of this pseudo double point as P '2 takes this into account. An embodiment in which the above-mentioned redundancy of the system is used is shown in FIG. Thus, in the case of failure of a part of the structure, a collapse can be prevented, which is of eminent importance especially in conveyor technology, further allows, indeed requires, this overestimation that the movable platform 3 is not stiffer than the tolerances of allow individual kinematic elements without the entire rigidity suffers. Here, for reasons of clarity, the original representation with triple points and twofold points is again reduced to, without being limited to, since, of course, pseudo-double points and pseudo-triplet points with the stated advantages can also be used here. It is essential that the rod S6 has been replaced by two rods S6 'whose length change must be synchronized so that they together simulate the one degree of freedom of the original S6.

Fig. 6 shows a similar situation as Fig. 1, except that the movable platform 3 'is formed much smaller than the fixed platform 2, whereby the position of the individual rods naturally also changes. Of course, the individual platforms do not have to be quadrangular and not even even, as can be seen from FIG.

Fig. 7 shows a general perspective view of a way to create by a combination variable-length rods, indicated as hydraulic cylinder-piston units A with rods of constant length S, using the principles of the invention a parallel kinematics according to the invention, in which the calculation of the equations of motion is significantly reduced compared to the prior art. Moreover, with this kinematics design, it is possible to rotate the movable platform 3 by 360 ° and above with respect to the fixed platform 2 (sum of all foot points), which is usually not possible.

In FIGS. 8 and 9, a triple point P3 designed according to the invention for a more detailed explanation of this component essential to the invention is shown in a structural design. The three converging rods Sl, S2, S5, selected analogously to FIG. 1, are coupled together in the following way, which can be seen more clearly from FIG. 9: The rods Sl and S2 which, as explained above, form a so-called pointer pair or force corner with the pointer axis Al 2, engage, pivotable about this pointer axis, on both sides of a hollow sphere 4. The rod S5 engages via a bracket 5 on the ball 4 on a to the axis Al 2 normally arranged and they intersecting axis A5. The intersection of the axes Al 2 and A5 is located in the center of the hollow sphere 4 and thus also in the center of the spherical part of a spherically rotatably mounted pin 6 in the hollow sphere 4, which is firmly connected to the movable platform 3 (not shown) and thus attributable to it ,

As can be seen from this construction, when changing the length of the bars Sl, S2 and S5 (or when shifting from their base points [Fig. 8]), the spatial position of the center of the sphere is always clearly defined. In this case, the bracket 5 is rotatably mounted about the axis of the rod S5 and the corresponding bracket of the rods Sl and S2 are rotatably mounted about the axes of these rods (this can be omitted only in very special arrangement cases) to avoid tension.

It is readily apparent that the formation of the point P3 according to FIGS. 8 and 9 is complicated and yet has the disadvantage of allowing only slight pivoting about the center of the ball, without causing problems with components hitting each other (collision).

FIGS. 10 and 11, which in their views essentially correspond to those of FIGS. 8 and 9, represent a solution according to the invention of this problem, which, as already mentioned, fully benefits from the advantages of the formation of triple points Disadvantages but completely avoids. In order to achieve this, the rod S 5 does not engage directly at the triple point, but in its region, at a small distance from it, at one of the other two rods ending at the triple point, in the example shown on the rod Sl. As already mentioned, it is preferred that this alternative point of attack A is located on that of the two available rods, which is mechanically less loaded. As a result, its additional load can be more easily absorbed and controlled by inducing a bending moment at the point of application A, than at a point of application on a rod which is already highly loaded. From Fig. 11 clearly visible is the simple structure of the now in its core a colon representing pseudo-triple point, instead of the complex and expensive sphäri¬ rule geometry can be a simple gimbal for the pin 6, already part of the movable platform 3 (not shown) is to be selected.

The embodiments and variants of the invention described so far are now applicable to all their applications, but of course the invention is not limited thereto. The formation of a point A can be designed differently than shown in FIGS. 10 and 11; in the case of a colon, regardless of whether it is a pseudo-triple point or a true colon, no cardan suspension must be used, but it can also be provided here a spherical training, in which then only the linkage to the two attacking rods easier than shown in Fig. 9, fails, etc.

The location at which the formation of a pseudo-triplet point takes place, within the meaning of the invention so close to the considered platform as it allows the construction of the linkage. Thus, the moments introduced into the continuous rod and the geometric deviations from the (ideal) triple point are kept small. The former is significant because of the mass saving, the latter because of the simpler mathematical design of the device, which can then be designed to operate with (ideal) triple points and must be calculated only for real operation with the adapted Bewegungs¬ equations. As a rule of thumb, it can be considered that the articulation should take place within 20%, preferably within 10%, of the length of the viewed rod. With several points of attack on the movable platform can be assumed that 20%, preferably 10% of the length of the shortest rod in its shortest position.

Of course, exceptions are also possible here, especially if only small masses and small forces occur and high speeds or accelerations of the movable platform are desired. Then can be achieved by an articulated at a greater distance from the platform actuator leverage. An essential aspect of the invention, which can be seen in all of the following application examples, it shows that is gone from previously in parallel kinematics (except purely rotational) usual arrangement principle with central axis. Technical applications are usually designed so that movements in mutually orthogonalisierten components run, whereby almost always a direction or at least one level exists, in which the main movement and / or main load occurs. By taking account of this requirement, the invention makes it possible to arrange most of the connecting elements so symmetrically that they transmit the forces occurring in the best possible way and that the main movement is particularly preferably effected and controlled. The calculation of the motion sequences can be further simplified and thereby accelerated. For stabilization in directions normal to the plane of symmetry then usually only a single, therefore not symmetrical trained rod, actuator or tension element is sufficient.

Application of the invention to lifting tables:

Fig. 12 illustrates a fiction, designed according to stroke table, which is based on a parallelogram. As is apparent from FIG. 12, which shows a perspective view of the lifting table, which is designated as a whole by 11, a base platform 2 (in the description for the sake of easier comparability of the figures, kinematic parts are always given the same reference number). and a movable platform 3 together with the framework that connects these two platforms. In this case, two parallelograms, on the one hand by the rods Si l and S12, on the other hand formed by the rods S13 and S14. The term parallelogram is used here in a general sense, because strictly speaking, these rods are only parallel to each other when the movable platform 3 assumes such a position that its longitudinal center plane and the longitudinal center plane of the fixed platform 2 coincide.

The drive for the movable platform 3, thus the lifting drive is formed by two variable in length rods Sl 5 and S16 (actuators). These rods engage on the fixed platform 2 at a height which corresponds substantially to the height of the corresponding point of application of the rods Si 1 and S 14, but to the movable platform 3 a height that corresponds to the local attack points of the rods S 12, S13. In this way, so-called force corner are formed, which correspond to the pointer pairs of the invention in the main direction of movement of the lifting table 11.

The transverse forces are absorbed by an obliquely extending rod S17, which lies with a point of articulation on the movable platform 3 in the region of the articulation points of the pointer pair and thus forms a pseudo-triple point P3 '.

13 and 14 show in a side view the situation at different elevations of the movable platform 3, Figs. 15-17 the possibility of tilting the movable platform 3 with respect to the fixed platform 2 in a side view, an end view and a plan view. This possibility for tilting the movable platform, which in practice corresponds to the lifting table, can be practical, for example when transporting piece goods. By doubling the individual elements, a parallel lifting of the movable platform is ensured during synchronization of the drives. The movable platform does not move vertically upwards relative to the fixed platform, as in the case of classic lifting tables, but executes a circular arc movement, which is hardly disadvantageous and in many cases advantageous. Due to the nature of the movement and the arrangement of the drives on the rods Sl 5 and Sl 6 to reach an unexpectedly uniform flow of forces over the lifting height, which differs by not even 10% of the average. In comparison, it should be noted that occur in the prior art when lifting from the lower end position forces that reach up to twice the average value.

As can be seen immediately from the drawing, the possibility of designing individual lengthwise adjustable bars (passive bars) in their length also results in an easy adaptation to necessities such as additional rotation about an axis, etc.

The oblique bar Sl 7 can in the illustrated variant, in which its Anlenk¬ point on the fixed platform 2 (foot F 17) on the straight line g2, by the bearings Fl 2 and Fl 3 of the inactive bars Sl 2 and S. 13 does not work and as long as its length yet its base (equivalent) can be changed to be considered inactive and does not occur in the mathematical model.

18 to 22 show a variant 21 of a lifting table according to the invention with purely vertical movement of the two platforms to each other, Fig. 23 shows a variant in a view similar to that of Fig. 22. In Fig. 18 is a perspective view of a erfindungs¬ contemporary Variant shown in which, in contrast to the lifting table according to FIGS. 12 to 17, the movable platform 3 moves perpendicular to the fixed platform 2. The kinematics according to the invention consists here of three pairs of pointers, one of the two rods having a variable length and thus being designed as an actuator, an obliquely extending rod which is analogous to the rod S 17, which also applies there here, and to make this analogy clear, he was given the designation S27.

The vertical or vertical movement of the two platforms to each other is achieved by a guide mechanism consisting of two guide arms Fl and F2. In detail, as can be seen in particular from a cohesion of FIGS. 18 and 19, the device is constructed as follows:

On the fixed platform 2, three pairs of pointers 22, 22 'and 23 are provided. The pointer pairs 22, 22 'are arranged in alignment and symmetrical to the vertical longitudinal plane of symmetry to each other, and the pair of pointers 23 lying in this longitudinal plane of symmetry and mirrored about the vertical transverse plane of symmetry of the device. The foot points of the bars are of constant length respectively offset below the foot points of the actuators and slightly laterally to them.

In the area of the movable platform 3, the rods of the kinematics according to the invention engage with transverse shafts 24, 25, the pointer pairs 22, 22 'engaging the transverse shaft 24, the pointer pair 23 acting on the transverse shaft 25. These transverse shafts 24, 25 carry at their outer ends rollers 26 which run in corresponding rails (not shown) of the movable platform 3. In order to define the movable platform 3 in its position in the direction of the raceways of the rollers 26, the guide arms Fl, F2 are articulated to the legs of constant length of the pointer pairs 22, 22 ', the length from the bases of these bars up to the articulation points 27, 28 is equal to the length of the guide arms Fl, F2, between these articulation points 27, 28 and their pivot points on the movable platform. 3

The variant of FIG. 23 differs from the variant according to FIGS. 18 to 22 only in that the end points of the actuators and the passive rods actually end "mathematically accurately" in colons P2 or a triple point P3 These points were not shown in detail, the optically "ineinander¬ running" bars may not be understood as a unit or even rigid unit! In the pairs of pointers 22, 22 ', the rods which overlap one another in this view have been slightly obliquely articulated for clarification purposes, this is easily possible, but so is the arrangement which is completely aligned in the vertical direction.

For these two embodiments is still to be noted that by asynchronous drive of the actuators tilting of the movable platform 3 about both major axes is possible and that in force parallel to the symmetrically arranged movable borrowed frame 3 moments in the passive rods (which are neither längenveränder¬ union still movable at the base rods) are induced. These rods are therefore to be dimensioned accordingly. This lifting table can be redesigned, for example, by providing an obliquely arranged pair of pointers such that it has a fully movable upper platform, whereby of course the rollers and their tracks are omitted and the connection between the two platforms takes place in the usual manner in parallel kinematics.

FIG. 24 shows an embodiment 31 of a lifting table which appears "classic" in its optics: a scissor mechanism designated in its entirety by 32 takes care of guiding the movable platform 3, which is not shown for reasons of clarity, but only through the free ends of the scissors mechanism 32, 33, the actuators S31 and S32 and the cross bar S37 is indicated. In this case, the respective legs 31, 32 of the scissors mechanism with the associated rods S31 and S32 form a pair of pointers and provide the main movement of the two platforms relative to each other. As in the previously discussed embodiments, transverse forces are derived via an oblique rod, here S37, which also forms the triple point on the movable platform 3. By varying the actuation of the two actuators S31 and S32, an inclined position of the movable platform 3 with respect to the fixed platform 2 can be achieved.

Application of the invention to overhead conveyors:

Overhead conveyors are kinematically closely related to lifting tables, whereby the reversal of the usual situation in the lifting tables and most other kinematics, the fixed platform 2, the hanging frame, in the gravitational field of the earth above the movable platform 3, the component carrier, is arranged, so usually train - And compressive forces in the individual components are reversed. Since rods are used as actuators and variously in passive form for guidance or support, in particular in the case of conventional parallel kinematics, in the case of monorail conveyors, this can often be achieved by ropes in an elegant and space-saving manner. Three variants are discussed in more detail below:

FIGS. 25 to 27 show an elegant design based essentially on cables, in which the constant specification of the force of gravity makes the double points without constructive adaptation triple points. In the illustrated device 41, the fixed platform 2 hangs by means of rollers 44 on a web, not shown, and moves along this path by means of a drive, not shown, either autonomously or as a function of common motion means common to all platforms; Despite this movement, which lies outside the kinematics, it remains the firm platform in the sense of the invention.

The fixed platform 2 is connected to the movable platform 3, which carries a body 45 in the illustrated embodiment, by means of four cables 42. These cables are individually raised or lowered in the illustrated embodiment by motors 43 via winches. The position stability is effected by three actuators, wherein the actuators S41 and S41 'in the illustrated, as "normal" to be designated position of the two platforms 2, 3 parallel to each other and a Queraktuator S47, which runs in this case in the longitudinal center plane of the device, and derived in this plane forces derives.

Fig. 26 shows a rear view of the device according to the invention and Fig. 27 is a view similar to that of Fig. 26, but with a reduced distance between the fixed platform 2 and the movable platform 3 and slightly inclined position of the two platforms to each other. This can be achieved by corresponding actuation of the drives 43, thus different free cable lengths 42 and appropriate choice of the length of the actuator S41 or S41 '. Here, too, the simplifications of the calculation of the equations of motion mentioned above are guaranteed and can be used.

Figs. 28-31 show a monorail, the kinematics of which essentially represents a reversal of the kinematics of the lifting table according to Figs. 12-16. The passive bars S51, S52 on one side (in the figure front) and the passive bars S53, S54 on the other (rear side) form a parallelogram, at least in the symmetrical position of the two platforms and neglecting different distances the head points or foot points to the longitudinal center plane.

These parallelograms are actuated by actuators S 55 and S 56 running parallel to one another in a symmetrical arrangement of the platforms 2, 3, the transverse forces being absorbed by an obliquely extending passive rod S57.

It is obvious that due to the necessity of releasing the space between the pairs of pointers (force corners) and the parallelograms for receiving the object to be transported, in the illustrated case a body 55, the transverse bar or diagonal bar S57 with the pointer pair (S52, S55). to which it is associated forms a very acute angle at the triple point P3 and therefore, in order to be able to reliably absorb the transverse forces that occur, it must be of a correspondingly solid design.

As already stated in FIG. 23, it must always be noted in the illustration of this variant that the bars which appear to be "rigidly opening into one another" in the drawing only for the sake of clarity, and in reality form triple points, or pseudo-triplet points or colons or pseudo-double points, each of the bars opening there is articulated spherically or with the freedom necessary for its movements.

The possibilities of movement of the device 51 are further apparent from FIGS. 29-31. It should be noted in particular here that by the possibility of moving the fixed platform 2 along the path (not shown) by means of the carrying rollers 54, a vertical lowering or lifting of the movable platform 3 is possible (as opposed to a stationary coordinate system) since the term "fixed platform" is to be regarded only as a statement of determination within the scope of the invention, but leaves open whether and how this fixed platform moves in relation to an inertial system.

FIGS. 30 and 31 show the possibility of tilting the movable frame 3 relative to the fixed frame 2, with particular reference to the fact that here in FIG. 30 (as in FIG. 29 also) the obliquely extending rod S57, the the transverse forces absorbs, is optically covered, in Fig. 31 but it is easy to see.

Finally, FIG. 32 shows a monorail with three degrees of freedom, by comparison with the view of FIG. 28 or 30 it can be seen that by replacing two passive rods S51, S54 of the four-bar linkages by actuators S61, S64, a further rotation relative to that there shown device is possible. Since otherwise no change was made, it is dispensed with a more detailed explanation of the kinematics.

The invention is not limited to the illustrated and illustrated embodiments, but may be variously modified and adapted to the task areas ange¬. It should be pointed out in particular that the provision "parallel" for passive rods, actuators, cables etc., depending on the embodiments described, does not have to apply to all the layers of the platforms 2, 3 strictly to one another, in particular FIG. 15, 16, 27, 30, 31. This always refers to the position of the elements in a "basic position" of the platforms to each other, and also the points of articulation of the rods, actuators, cables can be offset to each other so that the property of "parallelism "only grosso modo is fulfilled. Application of the invention to lifting robots:

33-38 show a mobile lifting robot, as used, for example, in painting or galvanizing or in other surface treatments of large-format and correspondingly massive articles, in particular vehicle bodies. Such devices are, as already mentioned in the introduction, for example, from DE 101 00 377 A, DE 101 03 837 A and DE 102 57 108 A known. The devices disclosed there use serial kinematics or a hinge mechanism and have the disadvantages mentioned at the outset.

For the lifting robots, which will be discussed and explained in more detail below, the following must be stated in advance:

When immersing and draining complex structures, there are always problems due to the fact that air bubbles are entrained during the immersion process, which rest more or less statically on the surface of the object during movement by means of conventional kinematics and thus lead to errors in the coating. lead. It is known in the prior art to pivot the object to be treated about an axis during the coating process, but this is possible only in a very small angular range, since otherwise there is the emergence or desiccation of the article. Although it is possible to achieve a complete coating, it is impossible to prevent this coating from being very different in the area of the air bubbles in comparison to areas in which no air bubbles occur. Strictly speaking, the resulting difference is a function of the exposure time, the current used, the tilt angle, the size of the air bubbles and, particularly complex, the shape of the surface in the area where air bubbles are dragged.

Similarly, for the most complete possible dripping of objects between two consecutive dip basins, it is important that nowhere does liquid in the form of paints remain in depressions or blind holes. This is important not only because of the quality of the coatings, but also because of the entrainment the chemicals from one dip tank to the other unpleasant and often for the quality of the entire coating disadvantageous mixtures in both the plunge pool as well as in the entrained liquid on the surface to be treated arise, which also complicate the disposal of the baths and thus affect the environment.

These problems can be eliminated or at least greatly reduced by providing a second tilt axis, but with prior art serial kinematics it has not been possible to reasonably provide a second tilt axis.

FIGS. 33-38 now show an embodiment of a parallel kinematics according to the invention which achieves these goals and thus avoids the mentioned disadvantages:

FIG. 33 shows a fixed platform 2 which can be moved on rollers (the possibility of the fixed platform itself being moved on above has already been discussed in detail above) and a movable platform connected to this fixed platform 2 by means of the kinematics according to the invention 3, which serves as a slide and in the illustrated embodiment with a body 14, which is indicated purely schematically verbun¬ is the.

The connection between the fixed platform 2 and the movable platform 3 via two four-bar linkages 15, 16 and a so-called crossbar 17. The Gelenkvier¬ corners 15, 16, each formed of actuators, is a diagonally extending passive rod S 15, Sl 6, by which the four-bar linkage in two triangles, so-called pointer pairs or force corner, is decomposed, with the proviso that each passive rod S 15, S16 two pairs of pointers associated.

The four-bar linkages need not lie in a mathematical sense in a plane, it may be the base points or points of the participating rods also just offset from each other, but it is essential that in the technical sense and compared to the size of the pointer pairs the "thickness" of such It is not only for this embodiment but for the practical implementation of the invention in general Inclinations between the platforms 2, 3 (Fig. 38) formed by rods "levels" in the mathematical sense are no longer present.

The movable platform 3 has in the example shown, the special feature that the four-bar linkages 15, 16 at locations with different angular position on the movable

Attack platform 3, similar to what is indicated in general position in Fig. 7. This means that the lever 13 of the movable platform 3 visible in FIG. 12 does not run parallel to its counterpart located behind the body and therefore not visible, but encloses an angle, preferably of greater than 45 ° (in the projection). This makes it possible to "spin" the movable platform 3 and thus the body 14 mounted thereon, provided that only the ends of the body 14 do not abut the crossbeam of the fixed platform 2 or the tub, the ceiling of the hall, etc.

FIG. 34 shows the situation with the movable platform 3 raised and rotated about 90 ° about the transverse axis, FIG. 35 shows the further lifting of the platform 3 with an unchanged angular position beyond the fixed platform 2, FIG the turning back of the movable platform 3 and Fig. 37, in a side view with respect to the fixed

Platform 2 the possibility of tilting the movable platform 3 and the body mounted thereon 14. In this representation, despite the various overlapping fertilize clearly recognize that the four-bar linkages 15, 16 are not congruent to each other, but slightly different angles to the plane, This is because, since the transverse elements of the movable platform 3 are now inclined, and the position of the four-bar linkages from their parallel position to each other easily changed. However, throughout this description, where these changes are not important, this minor deviation will not be described and mentioned separately

Not to impair readability.

Fig. 38, which shows a view of the position of FIG. 37 approximately in the direction of the arrow XXXVIII, clearly demonstrates the different angular position of the sections 13, 18 of the movable platform 3 to each other and their inclination relative to the fixed platform 2. By this different angular position (as seen in the room "askew"), dead centers and singularities are avoided and it is possible to move the platform 3 around the platform-side ends of the angles 13, 18 in any direction and as often as desired. turn as long as only the object connected to the platform 3 does not hit the platform 2 (or the individual bars) or the surroundings. In this representation, it is also clearly visible that the four-bar linkages 15, 16 are not in a mathematical sense in a plane, but that the bases of the rods are arranged offset on the fixed platform 2 to each other, and also by the inclination of the movable platform 3 with respect the solid platform 3 at all slightly skew verla aufen each other. This is not explicitly stated in the description and the claims for reasons of easier readability, but must be understood as such.

FIGS. 39-42 show a further flexible variant, in which the passive bars extending diagonally within the four-bar linkages in the previous example are also constructed as acutators Al 5 and Al 6 and thus further degrees of freedom, now all six, and, with the method of the fixed platform 2, however, not belonging to the invention along its career, even seven degrees of freedom are accessible.

The great advantage of this form of training, which at first glance does not seem to be much, is that the diving, tilting and turning maneuvers of the movable platform 3 and thus of the body 14, as can be seen from the sequence of figures, are much shorter Can be performed as in the first illustrated embodiment shown in FIGS. 33-38, and thereby the risk of collision of bodies mounted on adjacent fixed platform 2, can be much easier excluded. However, it is particularly important that considerable space can be saved in this way in the length of the treatment line, which is a great advantage in the pickling, priming and painting processes and in the subsequent drying because of the necessary enclosures and seals against the environment brings.

Of course, the invention is not limited to the illustrated embodiments. Thus, with corresponding boundary conditions, the illustrated kinematics can also be used in a stationary manner; in that case, the fixed platform 2 is a fixed or rotatable platform. Such a configuration of the invention can be used, for example, for transferring workpieces at the end of a production line must have only the movable platform 3 matching gripping organs or holding organs. The legs 13, 18 of the movable platform 3 need not include the angle shown with each other, the bases of the bars on the fixed platform 2 need not have the illustrated aligned or symmetrical arrangement, it is essential that a triple point, be it a real or a pseudo-triple point is formed, which preferably takes place on the movable platform 3, since then the profits in the Rechen¬ work for the movement of the movable platform relative to the fixed platform in comparison with the prior art are the largest.

Application of the invention to articulated-arm kinematics:

The invention will be described in the following with reference to some examples of application concerning various forms of so-called articulated arms, as used in robots in industrial production. Such constructions are, under other name, also in crane construction, in hoists, so-called Manipula¬ factors, etc., used. Such structures consist of a base, an attached upper arm, a joint provided thereon, often called elbows, and a forearm with tool carrier, gripper, etc. It is now the basic idea of the invention, at least one, preferably both subunits base arm -Ellenbogen or elbow forearm tool support by at least one parallel kinematics according to the invention to replace.

FIGS. 43 to 49 show a first variant of an articulated arm, as it can be used, for example, for a robot or a special lifting arrangement, for example a crane, etc. The basic idea in the realization of the articulated arm, in addition to the use of triple points or pseudo-triple points, is above all to avoid the previous disadvantages of mechanical systems based on parallel kinematics by a serial combination of two parallel kinematic devices.

As explained above, known parallel kinematic systems have the great disadvantage of having a large space requirement and thereby only detecting a very small working range. By the invention, which proposes to connect two parallel kinematic systems in series, wherein the movable platform of the first system serves as a fixed platform of the second system and thus becomes a middle platform, it is possible, extremely moving To create a long and equipped with a large radius of action devices. The conventional disadvantages of the serial arrangement of kinematics occur surprisingly practically not, since on the one hand only a two-stage series is created, but in particular because of the parallel kinematic design of the two stages of the serial kinematics, the dead masses are extremely small and there through the bearings usually used, as stated above, usually preloaded and thus highly accurate bearings, one of the main problems of the serial kinematics, namely the addition of the errors of positioning, does not play a practical role.

A first variant of such an articulated arm is shown in FIGS. 43 to 49, which can grasp, hold, process, guide, lift, etc. on its movable platform a tool, a lifting device, a gripping device, a workpiece, etc.

FIG. 43 shows a plan view of an articulated arm 101 according to the invention, consisting essentially of a fixed platform 102, a first parallel kinematics 105, an intermediate platform 104, a second parallel kinematics 106 and a movable platform 103. The fixed platform 102 can in fact be firmly anchored, for example in the foundations of a workshop or on a machine tool, it can, when the articulated arm is used as a crane, move the fixed platform 102 along rails or at least rotatably mounted about its vertical center axis, it can, when the articulated arm 101 serves as a guide for an excavator bucket, the fixed platform 102 may be connected to a carrying device of a vehicle and the like. more.

The first parallel kinematics 105 consists in the illustrated embodiment of two pairs of pointers or force corners 107, 108, each consisting of an actuator and a passive rod and forming at the intermediate platform 104 colons. At one of these colons is formed by a cross bar 109 a triple point 110, whereby all the advantages that have been explained in detail in the introduction of the description, are achieved.

It should be pointed out, not only to FIG. 43, but also to all other figures, that once again, for reasons of simpler representation, the bars or connecting elements involved in colons, triple points or pseudo-triple points are known as Simply merging into these points and thus also as merging with each other, without the actual mechanical training of kinematics in this area is shown. This is shown and explained in detail in FIGS. 1 to 1, so that these details are not shown for reasons of clarity in the figures, which show the entire kinematics in their various forms.

The above-described first parallel kinematics 105 moves the intermediate platform 104 as it has been explained with reference to FIGS. 1 to 11. Now, this intermediate platform 104 is used as a fixed platform for a second parallel kinematics 106, which has a similar structure to the first parallel kinematics 105, but is designed to be simpler, namely with only one actuator 122. Here, too, a triple point or pseudo-triple point 120 is provided on the movable platform 103, so that this parallel kinematic is also designed according to the invention and all the advantages that can be achieved with it are obtained. It should be particularly noted that in the parallel kinematics according to the prior art, the computational complexity of such cascaded systems, each of which alone is only iteratively to solve, would be absolutely unmanageable.

As is likewise easy to recognize from FIGS. 43 to 49, the second parallel kinematics 106 basically consists of a type of extension of the intermediate platform 104 and, as long as the activator 122 is not actuated, simply forms part of this intermediate platform 104 which, together with the movable platform 103, then constitutes an "exotic movable platform" of the first parallel kinematic device 105.

By forming one of the bars of the second parallel kinematics 106 as an achromat 122 and the appropriate arrangement of the articulation points (head points) of the other bars on the movable platform 103 as colons or as a triple point is now a possibility of rotation defined by the articulation points on the movable platform Axle 121 created, and so from the above-mentioned exotic movable platform of the first parallel kinematics 105 an intermediate platform 104 with subsequent second parallel kinematics 106th The various possibilities of movement of this kinematics are apparent from the following figures, in which, for reasons of clarity, only the respectively most significant reference numerals have been entered. FIG. 44 shows a side view of the articulated arm in the position of FIG. 43, and FIG. 45 shows a frontal view in this position. Fig. 46 shows a perspective view, Figs. 47, 48 and 49 show views in other positions, wherein variously (Fig. 47) and the transverse bar 119 of the second parallel kinematic 106, which together with a pair of pointers the triple point 120 of the second parallel kinematic 106 forms, is clearly visible.

If one compares this mobility with the mobility of conventional parallel kinematics, such as the Hexapod or the Tricept, one recognizes the surprising multiplication of the range and the various orientation possibilities of the movable platform, which is possible only by the inventive design of the articulated arm.

FIGS. 43 to 49 show positions of the articulated arm which can be achieved when the two pairs of pointers 107, 108 are moved synchronously. With this type of movement, as is apparent in particular from FIG. 47, it is possible to orient the movable platform 103 normal to the ground. FIGS. 50 to 53 now show movements in which the two pairs of pointers 107, 108 are not operated synchronously but independently of one another and it can be seen from this sequence of illustrations that an additional mobility of the movable platform 103 is then obtained, but that for the price is payable that the movable platform 103 is no longer normal or parallel to the ground, including here the level is understood, in which the bases of the links (rods, actuators) of the first parallel kinematics 105 are arranged is achieved. In the following it will be explained how according to the invention such an orientation becomes possible even under such conditions.

From Fig. 50, a plan view of an inventive articulated arm according to that of Figs. 43 to 49 it can be seen that the pair of pointers 107 and the pair of pointers 108 are no longer symmetrical to each other (asynchronous operation of the pointer pairs), ie the actuator of the pair of pointers 107 is longer as the actuator of the pointer pair 108, whereby a rotation of the intermediate platform 104 and thus the entire second kinematics 106th is effected. However, this oblique position and the greater range achieved thereby in many cases entail that, as indicated above, the movable platform 103 is no longer in a plane normal or parallel to the plane of the fixed platform 102 due to inclination of the intermediate platform 104 can be brought. This can be seen in particular in cohesion with FIGS. 51 to 53.

FIGS. 54 to 64 show a second variant 201 of an articulated arm, which differs from the first variant 101 only in that the pointer pair 208 (of the arrangement according to the pointer pair 108 of the first embodiment) consists of two actuators while the pointer pair (power connector) 108 of the first variant 101 consisted of an actuator and a passive rod. The consequence of this simple measure can now be seen directly from the figures, it is always possible to orient the movable platform 203 normal or parallel to the plane to the fixed platform 202, even in the case of non-synchronized movement of the pointer pairs (force corner) 207, 208 can be seen from the always horizontal in the illustrated positions axis 221, by which the movable platform 203 is pivoted by operating the actuator 222. This can be clearly seen in particular from the synopsis of FIGS. 27 to 33.

Of course, with this embodiment of the articulated arm 201 in each of the gezeig- shown positions, other orientations of the movable platform 203 can be reached within a wide range, it can also be reached all positions that can be achieved with the previously described variant 101, and of course also oblique positions of beweg¬ union platform 203, but with the representations in the drawing, the possibility of occupying very specific positions and positions are shown, the equally achievable skew relative positions of the fixed platform 202 and the movable platform 203 require as intermediate layers after this view no further explanation ,

One type of special form of articulated arm according to the invention is shown in FIGS. 65 to 68. FIG. 65 shows a perspective view of an articulated arm 301, which in principle has a similar structure to the articulated arms 101 and 201. As a special feature, all three stacks leading to the triple point 310 are designed as actuators, by the pair of pointers 307 (Figure 67) one rod is an actuator, the other a passive rod. As with the articulated arm 201, the transverse rod 309 is also an actuator and acts on the triple point 310.

This refinement makes it easy to construct the second parallel kinematics exclusively from passive rods in such a way that by appropriate placement of the

Intermediate platform 304, the plane of the movable platform 303, defined by the attacking points of articulation of the rods of the second parallel kinematics 306, always parallel to

Plane of the fixed platform 302 defined by the points of attack of the attacking one

Connecting elements of the first parallel kinematics 305 runs. Such an arrangement is in cutting or stapling machines, in flat surface testing devices

Cranes, solenoids, etc. advantageous because of the low dead weight and completely sufficient for the intended activities. It is still on the big one here

Working radius of this device pointed, in particular, when the fixed platform 302 is rotatable about its vertical axis and / or formed along a straight or circular path movable.

FIGS. 69 to 71 show a particular embodiment of a knuckle arm according to the invention, which is particularly advantageous in applications in which rapid and accurate positioning of a tool is desired. This can be, for example, a laser cutting device, a water jet cutting device, a surveillance camera or something similar.

The device consists of a first kinematics 405, which is constructed as the first kinematics 105 explained with reference to the first example. A second kinematics, which is designed similar to the second kinematics 206 or 306, is attached to the intermediate platform 404 only the actuator 222 or the passive rod occupying its position (without reference number) is missing. The movable platform 403 thus degenerates to an axis or shaft 421 analogous to the axis 221 (FIG. 59), and a working platform 431 is seated on this axis, gimballed. This working platform 431 is provided with a symbolic tool in the exemplary embodiment shown. At the gimbal suspension attacks a parallelogram, which ensures the always vertical orientation (relative to the plane of the fixed platform 402) of the tool. The parallelogram guide 430 is rotatably mounted on the fixed platform 402 about a vertical axis and consists of two juxtaposed, a common side having parallelograms, so that the holder on the gimbal always runs parallel to the suspension on the fixed platform 402. Due to the possibility of rotation about the vertical axis on the fixed platform 402, the parallelogram 430 is always tracked to the movements of the movable platform 403 degenerated to the shaft 421.

From a synopsis of FIGS. 69 and 70 can be clearly seen, as by the cardan suspension even with tilted movable platform 403, according to the

Shaft 421, the tool platform 431 is vertically positioned. It should also be pointed out that if the two parallel kinematics 405 are inclined accordingly,

406 parallelogram guide 430 in plan view closes the triangle formed by the two kinematics, so that a spatially very unusual position results.

A further flexible embodiment of the basic idea of the invention is shown in FIGS. 72 to 79. In the case of an articulated arm 501, a first parallel kinematics 505 is provided, which is constructed in the same way as the first parallel kinematics 105 in the first exemplary embodiment and therefore will not be explained again here, but the second parallel kinematics 506 is complex and will be explained in more detail below ,

The second parallel kinematics 506, which extends from the intermediate platform 504 to the movable platform 503, as described or reduced in the above-described embodiment, reduces or denatures that the movable platform 503 has shrunk to a shaft, mounted on the gimbal Tool holder 531 is seated. The positioning of this tool carrier on and around the shaft 503 is effected by means of two actuators 532 and 533. In the illustrated embodiment, the actuator 532 acts on the extension of one of the gimbal axes, the actuator 533 on one of the Karnan suspension protruding lever. This actuator 533 is also articulated on a lever 533 'fixedly connected to the intermediate platform 504. The very great mobility and the range of this device are clear from the individual figures, it should be particularly pointed to Fig. 77, which shows in plan view, as well as in strongly remote and remote positioning of beweg¬ union platform 503 the tool suspension 531 so led can be that the tool protrudes at a right angle from the movable platform 503. This excellent flexibility is also apparent from Fig. 78, which shows a side view.

FIGS. 80 to 90 show a sixth variant of an articulated arm with a particularly flexible second kinematics part 606. The basic structure is as follows: The first parallel kinematics 605 is constructed as in the previous example and therefore needs no further mention. The intermediate platform 604 is changed in the variant shown in these figures compared to the previously illustrated embodiments, it has a support plate 635, the task and effect is explained below. The beweg¬ Liche platform 603 has in this embodiment, without limiting the generality also plate shape and serves as a tool carrier.

The second parallel kinematics 606 in this embodiment consists of three passive rods 641, 642 and 643 and three actuators 632, 633 and 635. The reference numerals for these six connecting elements of the parallel kinematics 606 are entered in the individual figures only in accordance with their visibility, to the pure The schematic manner of representing the bars in the region of the colons, triple points and pseudo-triple points is again referred to.

The three passive rods 641, 642 and 643 form on the movable platform 603, in the illustrated embodiment in the center of the substantially circular

Tool carrier disc, a triple point, the actuators 632 and 633 a pair of pointers with a colon on the periphery of the movable platform 603. The actuator 634 finally defines with its point of attack on the movable platform 603 the last remaining degree of freedom and thus the position of the movable platform 603 in space with respect to the intermediate platform 604.

With the configuration of the first parallel kinematics 605 with two pointer pairs and a triple point, this two-stage combination of two parallel kinematics provides an extremely powerful system for mastering the position and movement of a tool carrier, gripper arm etc. in the room. The figures clearly show that not only the range of the articulated arm is excellent, but that he is also able to be positioned directly in the area of the fixed platform 602, thus near its base, and in all these areas also the most different orientations the movable platform 603 can accomplish.

The various possibilities can be seen in particular from FIGS. 88 and 89, where it can be seen that even with completely symmetrical actuation of the first parallel kinematics 605, clear pivoting of the movable platform 603 is possible only by the second parallel kinematics 606, and also from the Figs. 86 and 87 clearly show in top plan view and perspective view that even when greatly extended and kinked, the movable platform 603 can be brought into a plane normal to the plane of the fixed platform 602.

Fig. 90 shows the section 606 of the parallel kinematic on an enlarged scale. Here, one can clearly see the convergence of the three passive rods 641, 642 and 643 to a triple point in the center of the disc-shaped movable platform 603 and the convergence of the actuators 632, 633 to a colon on the periphery of the movable platform 603. The actuator 634 and his point of attack are hidden in this view and are located substantially behind the actuator 633rd

The invention is not limited to the illustrated embodiments, but may be variously modified. Thus, it is possible to provide only one of the two sections of the articulated arm with a kinematics according to the invention, it is also possible to choose different length ratios of the two parallel kinematics relative to one another in the case of two such kinematics, this of course depends on the respective field of application. It is obvious that it is possible to combine the exemplary embodiments shown for the different first and second parallel kinematics differently from each other as shown; knowing the invention, it is easy for the person skilled in the art to find favorable combinations here. Of course, the movable platform 603 may have the appropriate form for the respective Verwen¬ purpose, the same applies to the fixed platform 602, which does not have to be really fixed in space, but, it should be mentioned again, also movable or rotatable or pivotable.

Not all the connecting links of the parallel kinematics also have to be rods or actuators; it is quite possible for individual elements to be replaced by cables, chains, wires, etc., in particular if the device is suspended (trolley, monorail , etc.).

The middle platform is in the illustrated embodiments, with the exception of the last a substantially tetrahedral framework, this is of course not necessarily so, but only because of the easier kinematic and dynamic controllability of such a construction so represented and selected.

Application of the Invention to the Parallel Kinematics Relationship - Formation of the Mobile Platform:

This aspect of the invention, which significantly increases the range and extent of orientation of a tool mounted on the movable platform, will now be further elucidated with reference to some examples, in part recourse to previously discussed figures. Since a separate aspect of the invention is discussed here, it may happen that pictured parts are named differently to their first explanation.

FIG. 91 shows in purely schematic form a first embodiment of a robot 701 according to the invention. The robot 701 essentially consists of a fixed platform 702, a parallel kinematic device 705 based thereon, a movable platform 703 moved by it, and arm 706 firmly connected to it a tool carrier 707 having a tip.

The parallel kinematics 705 in the illustrated embodiment is a so-called 3-2-1 kinematics with three actuators and three rods of fixed length. On the fixed platform 702 are the three actuators Al, A2 and A3 and the three rods of fixed length Sl, S2 and S3 stored in single joints (feet). Their points of attack (head points) on the movable platform 703 consist of a triple point TP, a colon DP and a single point EP.

Fixedly connected to the movable platform 703 and thus part of it is the arm 706, which carries at its front end a movable tip with a tool carrier 707 and the indicated tool 708. Between the tool carrier 707 and the arm

706 is a link chain 709 arranged with a plurality of mutually parallel axes 709 '. Around these axes, the links of the link chain 709 and thus the tool carrier

707 are curved in the manner of human fingers.

In addition, in the illustrated embodiment, the tip 705, thus essentially the link chain 709 including tool carrier 707 and the tool to the arm axis 706 'rotatable, so that when rotated about this axis 706' by about 90 °, the tool depending on the direction of rotation substantially normal to the drawing plane towards the viewer or oriented away from the viewer.

The peculiarity of the illustrated device is now that even by relatively small changes in length of the actuators Al, A2, A3 by the great length of the arm 3, a large work area for the tool carrier 707 is achieved. However, this working range can only be used by changing the orientation of the tool carrier 707 with respect to the arm 706, or with respect to its front end face, by the link chain 709 and, which is preferred, the possibility of rotation with respect to the arm axis 706 'within wide limits that at each operating point, which can reach the tip of the tool 708, a large range of accessible directions for the tool axis 708 'is reached, which is essential for practical use.

It should be pointed out only that during welding, painting, when grasping or depositing objects, etc., the orientation of the respective tool at the operating point is just as important as the accessibility of the operating point. The combination according to the invention makes use of the high accuracy of the movements of parallel kinematic devices and the exact repeatability of these movements, since the desired goals would not be attainable with conventional serial kinematics. Only this high accuracy, coupled with the excellent payload to dead load ratio and the arrangement of the arm axes or finger axes 706 'and 709' near the tool 708, whereby only small moments of inertia must be overcome and a possible positioning error is no longer propagates enabled it to achieve these goals.

FIG. 92 shows a device similar to FIG. 91, in which only the construction of the link chain 710 is somewhat different, furthermore, as compared to FIG. 91, as already shown by a slight change in length of the actuators A1, A2, A3 significant change in the position of the front end of the arm 706 is achieved, and how the orientation of the tool axis 708 'can be changed easily and to a large extent.

In view of the coincidence of the parallel kinematic device has been largely omitted registration of the reference numerals, even from the top 705, only the essential elements were provided with reference numerals.

It will be briefly explained that the link chain 710 in Fig. 92 is kinematically coupled to each other by segments of gears, while this linkage is made to the link chain 709 by synchronizer bars, which are clearly visible in Fig. 91. Finally, the structure of the tip 705 is not limited to the illustrated embodiments, but may be replaced by any type of joint, such as that known from US 2005/0040664 A.

Also, it is not absolutely necessary that the parallel kinematic device 701 be a 3-2-1 kinematic, here any parallel kinematic device can be used, as explained with reference to Figs. 128-137 showing two devices with this aspect of the invention should:

FIGS. 128-132 illustrate a first variant of a particularly load-bearing and also torsionally rigid, three-axis parallel kinematics 1106 with a plane of symmetry and by means of a In this case, two actuators Al, A2 are movably mounted on a movable platform 1102, which may optionally be movable relative to an inertial system or rotatable about a vertical axis, whose head points are a colon in the plane of symmetry at the mobile platform. Without limiting the generality, two bars S 1, S 2 of constant length are articulated in the same base points as the actuators A 1, A 2. They end in a triple point TPl, in which also a lying in the plane of symmetry actuator A3 has its head. From the triple point TP1, two bars S3, S4 lead to colons on the movable platform 1103. Of these colons, another bar S5, S6 of constant length each leads to a common colon on the fixed platform 1102.

The movable platform 1103, designed as a truss, is fixedly connected to an arm 1113, likewise designed as a truss, which has a tool carrier 1107 at its free end. This arm is of a long length, typically this length is at least equal to the length of the parallel kinematic device between the foot and head points, the lowest barrier being 50% of this length, the upper limit being determined by the weight and stiffness of the arm 1113. This means that when using a lightweight tool (which may be probes, gauges, spray guns, light sources, etc.) can be made very long.

As can be seen, this device has three colons on the movable platform 1103, to one the two actuators Al, A2 lead to the two other the bars S3, S5 and S4, S6. Here, the rods S3, S4 fußpunkterregt by processes of the triple point TPl, the actuator A3 causes with the two rods Sl, S2 this Fußpunktverschiebung.

Due to the geometric configuration of the parallel kinematic device 1106, despite its only three-axis mobility, it is provided both with a large radius of action, as can be seen directly from the figures, and with high rigidity, in particular torsional rigidity. The device remains in its symmetrical configuration as long as the two actuators Al and A2 have the same length. A development of this device is shown in FIGS. 133-137. In this case, only the rod S4 of the device according to FIGS. 128-132 has been replaced by an actuator A4, the device 1206 is thus movable on four axes. According to the above-described and apparent from the drawings expansion, this means that the movable platform 1203 is movable out of the symmetrical position even if the actuators Al and A2 have the same length and this occupies only if, moreover, the actuator A4 has the same length like the staff S3. By changing the length of the actuator A4 a rotation is achieved at the given geometry substantially around the longitudinal axis of the arm 1213 and thus allows positioning and orientation of the tool carrier 1207 to a large extent. The extent of the acquired mobility show the figures.

It should be noted that the two devices differ only in the replacement of the rod by the actuator, therefore, such devices are simple and inexpensive to manufacture once the size and load are determined. Also, retrofitting is completely impossible with kinematics according to the prior art (see FIGS. 93 and 94), with devices according to the invention that are easy. It is also directly apparent that the structural design of the colons can be done uniformly, which multiplies the lot sizes and thus extremely reduces manufacturing costs and greatly simplifies storage.

Of course, a movable tool holder, for example the one shown in FIGS. 91-93, can be mounted on the tool carrier 1107 or 1207 in order to further increase the possibilities of orientation of the tool; the arm 1113 or 1213 need not be designed as a framework, but may be constructed analogously to the arms of FIGS. 91-93 or else completely different, it is essential for this aspect of the invention that the length ratio parallel kinematics / arm of at least 0, 5, preferably at least 1 is achieved.

FIGS. 43 to 53 also show a variant of the principle according to the invention of connecting a long arm to the movable platform of a parallel kinematic mechanism in order to provide long reach with various possibilities of moving a robot or the like. to connect. The kinematics as a whole in turn consists of a parallel kinematic region 101, which is constructed on a fixed platform 102, and the movable platform 104, on which an arm 106 consisting of a framework is fixed or forms part of this movable platform 104. To an arm axis 121 at the free end of the arm 106, a tool carrier 103 is pivotally mounted, the pivoting about this axis 121 takes place in the illustrated embodiment by a hydraulic cylinder-piston unit 122nd

The parallel kinematics 101 consists of three actuators and three rods of fixed length and is, as in the examples of FIGS. 91 and 92, designed as 3-2-1 kinematics. For reasons of clarity, the marking of the triple and double points has been dispensed with, this being possible for the person skilled in the art without loss of information, in view of the similar construction to the other device of this description.

From the combination of FIGS. 43 to 53 it can be seen in which wide area the tool carrier 103 can both be moved and oriented with respect to the fixed platform 102, and this despite only relatively small changes in length of the actuators and the actuator 122 for pivoting about the Hand axis 121.

FIGS. 54 to 64 show a variant in which the parallel kinematic device 201 consists of four actuators A1 to A4 and two bars of the same length Sl, 209. The arm 206 is constructed as in the previous example, but as the figures show, it is possible to further increase the orientation and reach of the tool carrier 203 by the additional degree of freedom of the parallel kinematic device 201. In particular, it is clear from the combination of the figures that even with slight adjustment of the actuators also a movement transverse to the preferred direction of movement is possible, and that it is also possible to obtain the orientation of the tool carrier 203 in a desired manner either or change. The figures also show the high mobility of the movable platform 204, which is significantly responsible for the orientation of the tool carrier 7. As actuators, pneumatic or hydraulic cylinder-piston units or electric linear drives, spindle drives or other linear drives can be used.

Figs. 80 to 90 show a variant of the invention, which is significant because the arm 606 is in the form of a parallel kinematic device, in which the position of a point of the tool carrier 603 relative to the movable platform 604 by three rods of constant length, on the tool carrier form a triple point, is fixed. The position with respect to the remaining degrees of freedom, in the embodiment shown, the pivoting about three mutually normally extending, passing through the triple point axes is variably adjustable by three actuators 632, 633 and 634.

For example, if rotation of the tool carrier 603 around the axis of the arm 606 is prevented by appropriate design of the bearing of the triple point, or another degree of freedom is fixed, then one of the three actuators can be dispensed with. Due to the high mobility of the tool carrier 603 in both cases, the actual parallel kinematics 605 also comes from a wide working range with three actuators and three rods of constant length, is therefore easy and inexpensive to manufacture.

From a comparison of the figures with each other, the high mobility of the orientation of the tool carrier 603 is apparent even at virtually unchanged operating point.

FIGS. 72 to 79 also show a variant of this aspect of the invention. The tool holder 531 is articulated about two axes on the arm 506, the parallel kinematic portion 505 consists, as in the latter example, of three rods of constant length and three actuators, the arm 506 consists of five rods of constant length, the position of a hand axis 503 with respect define the movable platform 504. About this hand axis 503 pivotally another hand axis is rotatably mounted. The position of the tool carrier 7 with respect to these two mutually intersecting at a right angle axes is determined by two drives 532, 533. These drives engage on the one hand suitably on the movable platform 504 and with its other end on the tool carrier 503. It can be seen from the illustrations of the illustrated embodiments that the parallel kinematics are adapted in their various embodiments to the respective areas of work, and that the not usual for parallel kinematics fertil fertilization of rods of constant length in conjunction with actuators with a suitable choice of the arrangement of these elements sufficiently high mobility provides. In particular, in connection with the 3-2-1 kinematics and the use of pseudo-triple points and pseudo-double points one achieves in an unexpectedly simple and thus cost-effective manner kinematic devices that correspond to the accuracy and portability of the parallel kinematic devices of the prior art but allow to indicate their movements in the form of closed mathematical solutions, so that the mobility is much faster and more accurate than in the prior art.

In addition, due to the special design of the movable platform, because the arm is in this aspect of the invention an integral part of this platform, and by the provision of at least one pivot axis for the tool carrier in the region of the transition from the arm to the tool carrier, an extent of the work area and a flexibility of the orientation of the tool carrier and thus of the tool is achieved, which was reached in the prior art in no device so far.

FIG. 93 shows a variant of a robot similar to that of FIG. 92. Here, for mechanical reasons, the two rods of fixed length Sl and S2, both of which have their head point at the triple point TP, and therefore can only rotate around the connecting line of their feet, united to form a surface F. This achieves a substantial increase in the mechanical rigidity and thus a further weight saving, including a simplification of the mechanical structure of the triple point TP. Of course, in all the embodiments of this description shown, the pointer pairs (force corner) of rods of fixed length can be transformed into such surfaces.

Of course, the invention is not limited to the illustrated embodiments and can be variously modified. Thus, for example, in the embodiments according to FIGS. 91 to 93 of the arm 706, instead of a consist closed, tube-like structure, from individual rods, thus a Stab¬ factory, be constructed. The actuators and drives for the pivoting of the tool carrier to the various swivel axes made available to him can be designed differently than in the examples shown and it can of course also be used parallel kinematic devices that are moved with variable-length actuators instead variable position footsteps. These types of parallel kinematic devices are known from the prior art, as well as the fields of application or kinematic principles which make it possible for a person skilled in the art of kinematics to form the most favorable form of kinematic device for the respective field of application.

In the representations, as already repeatedly stated, the triple points or the pseudo-triplet points and the colons or the pseudo-double points are generally not shown in their constructive structure, usually a confluence of the rod outlines was chosen as a representation to avoid overburdening of the drawing. Of course, this does not mean, however, that the bars, which are so to speak as a unit, would be mutually immovable, so that only their attack on a common point or a pseudo-common point is indicated.

As can be clearly seen from the drawings, the movable platform can have a wide variety of shapes and, as in FIGS. 91 to 93, actually resemble a platform, but it can also, as in the devices according to FIGS a rigid framework should be resolved, at the node of which the rods of the parallel kinematics attack. Finally, it is also possible that the movable platform 6 carries a kind of plate or the like, as in the example of FIG. 86, to provide a sufficiently stable yet easy attachment and engagement for the rods forming the arm and the actuators which pivot the tool carrier to create.

Finally, the solid platform is not necessarily really fixed in space or fixed to think with respect to an inertial system, but in turn od.dergl on wheels, wheels. be mobile, especially if the robot 1 has large dimensions and beispiels¬ example in the manufacture of trucks, as a crane, in shipbuilding od.dergl. is used. Essential for this aspect of the invention is the combination of a parallel kinematics with an elongated arm, which is mounted on the movable platform and at least one axis of rotation in the region of the transition from the arm to the tool carrier. Even the provision of further axes of rotation or a multiplication of the axes represents Ausgestaltun¬ gen, a possible mobility of the arm with respect to the movable platform as well. The length of the arm necessary to achieve the objects of the invention can easily be determined by the person skilled in the kinematic field of knowledge of the invention and the field of application; the definition of the points between which the length is measured can be determined countless configurations and variants vary. The geometric center of gravity of the foot or head points of the parallel kinematics and the position of the axis of rotation corresponding to the axis of rotation of the tool carrier in the examples can almost always be used de facto. Of course, this does not have to cut the arm axis (if there is one at all), but a reference point (triple point on the tool carrier, center of the universal joint), which embodies the mobility of the tool holder with respect to the arm, can always be found.

The lower value of the arm length defined in accordance with the invention can be considered as 50% of the average length of the actuators and rods in the shortest configuration of the parallel kinematics, preferably at least 100% of this length. As can be seen from the figures, significantly higher values are also useful in practice.

Application of the invention with regard to the configuration of the power corner:

The subsequently discussed aspect of the invention relates to parallel kinematic devices in which the movable platform is connected by rods to the fixed platform, the foot and head points of the bars being fixedly provided on the respective platform and at least two bars on one of the Platforms, preferably the movable platform, have a common point of attack, thus a colon or pseudo-double point, a so-called force corner.

A form of such a kinematic basic structure according to the invention now consists of a rod of fixed length, called rod for short below, and a rod. Licher length, thus an actuator, and is called in the following force corner. One of the main advantages of such a structure is the ability to compute the movement of the common head with respect to the fixed platform in a closed form, another very important point is that such structures in different combinations, the creation individually adapted to the circumstances and needs Parallel kinematics allow, so that the costs of development, certification, warehousing, etc., can be extremely reduced according to a kind of modular principle.

It should be pointed out at this point specifically that parallel kinematic devices are not necessarily only made of rods, which are claimed solely on train or pressure, but that there are also parallel kinematic devices in which waives one or more of the necessary six rods and in which by appropriate restriction of the mobility of other rods, the determination of the degrees of freedom takes place, but by the restriction of the articulation at the points of attack, the corresponding rods are exposed to bending stresses and / or Torsi¬ onsbeanspruchungen.

The above-mentioned, known from practice rotary parallel kinematic Vorrich- device (KUKA ₅ ABB) is not to be addressed in this context as rod kinematics and therefore does not belong to the relevant devices in this context, but is due to these differences with reference to FIGS. 94 and 95 be discussed:

Fig. 94 shows a robot according to the prior art. This robot has a fixed platform 802, which may optionally be rotatably mounted or connected about a vertical axis 814 opposite an assembly 801 connected or moveable to the foundation. Rotatable about a horizontal axis 815 is a lever 811, at the other end of which an arm 8 is pivotally mounted about an axis 812. At its tip, the arm carries a tool carrier 803 on which a tool can be mounted. The two axes 815, 812 are parallel to each other. This is a classic serial kinematics. This prior art robot has the drive for the pivoting of the arm 813 about the axis 812 on the lever 811, this drive must therefore always be moved with the lever 811 which increases the dead load and the necessary driving force for the pivoting of the lever 811 about the axis 815th and drastically increases the pivoting of the entire robot about the axis 814. In addition, that all components must be designed accordingly reinforced, is another unpleasant side effect, which not only increases the stress on all bearings but also further drives the necessary drive power in the air.

A certain remedy of this problem is provided by the similarly constructed robot shown schematically in FIG. 95, which is likewise known from the prior art. Comparable components were therefore provided with the same reference numerals. This robot also has a foundation part 801 on which, rotatable about a vertical axis 814, rests the "fixed platform" 802. A lever 81 1, which is pivotable about a horizontal axis 815 of this fixed platform 802, is arranged at its free end an axle 812, which is parallel to the axle 815, pivotally supports an arm 813. Unlike the robot of Fig. 94, a drive is now on the fixed platform 802

816, which rotates a drive lever 817 relative to the lever 811 in accordance with the rotation of the lever 811 and in relation to this rotation. This drive lever is pivotally connected to an actuator 818, the other end of the arm 813 engages articulated and thus brings him to the desired angular position with respect to the lever 811. The pivot points of the lever 811, the drive lever 817, the actuator 818 and the arm 813 form a four-bar linkage in the form of a parallelogram, from the fixed platform 802 against a freely selectable coordinate system, the angular position of the arm 811 and the angular position of the drive lever

817 can be adjusted.

Thus, it is no longer necessary to transport the drive for the pivoting of the arm with respect to the lever with the latter, said four-bar linkage could be considered as a very special parallel kinematic device: Rotary part: drive lever 817 and arm 813, partly as Fußpunktverschiebung a passive rod: Actuator 818. In comparison to these massive and complex constructions according to the prior art, robots according to the invention with at least comparable kinematic freedoms and possibilities are explained below:

A robot according to the invention, essentially corresponding to these two industrial robots, is shown in FIGS. 96 and 97 in a schematic view. This robot has an inventively designed parallel kinematic device 906 which is mounted on a fixed platform 902. The fixed platform 902 may optionally be pivotable about a vertical axis in analogy to the fixed platform 802 of the industrial robots according to FIGS. 94 and 95, however, this possibility is not shown in the figures for reasons of clarity.

The parallel kinematic device 906 has a force consisting of the rod Sl and the actuator Al. The support of the bases of these two elements only allows pivoting about fixed and parallel axes 915 with respect to the fixed platform 902, the head of the two elements being a colon and allowing pivoting about an axis 912 parallel to the axes 915 , The position of the axis 912 and thus also the mechanical embodiment of the movable platform 903 mounted thereon are clearly defined by the instantaneous length of the actuator A1 relative to the fixed platform 902. This means that the movable platform 903 is pivotable only about this axis 912, the respective angular position about this axis is uniquely determined by the length of the actuator A2 and thus also the orientation of the fixed to the movable platform 903 arm 913th Die Werkzeughalter 907, rigidly or movably arranged at the free end of the arm 913, may be formed similarly to the tool holders of industrial robots.

A comparison of the three constructions clarifies the light and elegant construction of the device according to the invention, which exclusively uses commercially available standard elements, which can be procured or manufactured with high accuracy at low cost. All the elements are easily accessible and easy to maintain, the dead masses are extremely reduced. A variant of the invention, in which the mobility of the movable platform 903 and thus of the tool holder 907 compared to the industrial robots is further increased, is apparent from Figures 98 and 99. These two figures show a robot 901 similar to that of FIGS. 96, 97, with a parallel kinematic device 906 between the fixed platform 902 and the movable platform 903, in which, compared to the robot according to FIGS. 96, 97, the actuator A2 is replaced by two Akruatoren A2, A3 is replaced.

At the power point, which is formed from the rod Sl and the actuator Al, only the construction of the head point Kl has changed, the universal joint is connected about a vertical axis 917 rotatably connected to the movable platform 903, as the universal joint, to which the two Akruatoren A2 A3 attacking about a parallel axis 917 '. This allows movement of the movable platform 903 not only about the axis 912 (Figure 97) but also about an axis normal to it. In order to avoid tension, the foot of the actuator Al was formed with a gimbal, this is purely by design but not necessary.

A variant with further increased mobility is shown in FIG. 100: starting from a robot 901 according to FIGS. 98, 99, the foot points are not designed as axial joints with mutually parallel pivot axes, but have the shape of universal joints, whereby of course all kinematically so that equivalent joints can be used. The tilting of the parallel kinematic device 906 and thus the movable platform 903 about the tilting axis 916 formed by the three aligned foot points is accomplished by an actuator A3.

The head point K3 of the actuator A3 is suitably provided on the rod Sl, thus forming a pseudo-triplet point, so that the rod Sl depending on the view as part of the force, formed from the rod Sl and the actuator Al, or as part of the force corner, formed from the Rod Sl and the actuator A3, can be viewed. Of course, it is possible to form the head point K3 together with the head point Kl as a true triple point. The head points are in turn rotatably mounted about axes 917, 917 'in the movable platform 903. Neither from the calculation and control of the motion forth, nor from the dynamic or static load ago brings this combined design difficulties, the introduction of bending forces in the rod Sl is mechanically easily manageable. The accessibility and verifiability of the device is not restricted by these multiple freedom of movement, it should be specifically mentioned that the mass of the movable platform 903 together with the arm 913 and tool carrier 907 undergoes no change due to this further formation, which is unthinkable in the case of serial robots ,

FIG. 101 shows a still more mobile robot 1, which consists of a combination of the robot according to FIGS. 98, 99 with a robot according to FIG. 100, but whose actuator A3 has been replaced by a rod S2 of fixed length so that this robot only has the force formed by the rod Sl and the actuator Al. Due to the constant lengths of the rods Sl, S2, it is quite possible to replace these two rods together with their base points, similar to that shown in FIG. 93, by a planar structure which can pivot about an axis 915 of the fixed platform 5 is trained.

FIGS. 102 and 103 show another embodiment of the robot 901 of FIG. 101, wherein the parallel kinematic device 906 has been modified such that the movable platform 903 is pivotally mounted about the connection axis of the two header points K1, K2 (FIG their position relative to this pivot axis is determined by a rod S3 constant length.

Thus, in this parallel kinematic device 906, the position of the head point K1 of the movable platform 903 with respect to the fixed platform 902 is determined by the force corner formed of the rod S1 and the actuator A1 in connection with the rod S2. The location of the head point K2 depends on the respective length of the actuators A2, A3, their base points fixed relative to the fixed platform 902 and the distance between the points K1 and K2 constant at the movable platform 903 being the position of the head point K2 with respect to the fixed platform 5 clearly set. The only remaining degree of freedom of the movable platform 6, the angular position with respect to the passing through the two Kopfpunke Kl, K2 axis is determined by the rod S3. The robot 906 shown in Figs. 104 and 105 is the logical advancement of the robot of Figs. 102, 103: In this robot, in the parallel kinematic device 906, the rod S2 has been replaced by an actuator A4, whereby the mobility of the head point Kl with respect to the fixed platform 902, as the robot gem. Fig. 100 has already shown, is reached again. It should again be pointed out that the incomplete coincidence of the head points K1 and K3 for the mobility, the simple construction and the simple creation of the equations of motion of the robot 1 is not detrimental, and the introduction of a bending moment into the rod S1 also constitutes In practice, there is no appreciable disadvantage, since the magnitudes of these bending forces, as is apparent from FIGS. 96 to 104 for the person skilled in the field of strength theory, are substantially smaller than all other forces acting on the rod S1. It should also be pointed out again that the movable platform despite all these configurations has a virtually unchanged mass.

104 and 105, the head point K4 of the rod S3 is designated, this may for example consist of a spherical bearing, which is characterized by a particularly compact design.

A further embodiment of the invention is shown in FIGS. 106 to 108, here the provision of three practically equal head points K1, K2, K3 makes the parallel kinematics 906 a kind of Gough platform, but in the classic Gough platform all rods are formed as actuators, while in the illustrated Ausfüh¬ tion example of a force corner, formed from the rod Sl and the Akraator Al, a so-called scissors, formed from the two actuators A2, A3 and another pair of scissors, formed from the two bars S2, S3, are provided.

As can be clearly seen from the drawing, the foot and head points can be formed identically to one another so that a robot according to the invention can be produced in the manner of a modular system, whereby the storage and the costs per piece can be kept favorable by the larger batch sizes. In particular, from Fig. 108, which shows a plan view of the robot according to the invention, it can be seen that the accessibility to the individual components is given to a large extent, which is the According to the invention, the robot differs fundamentally and in a very advantageous manner from the serial robots according to the prior art.

The invention is not limited to the illustrated embodiment but can of course be modified variously. Thus, other combinations of rods with actuators can be combined to form a force corner in the sense of the invention, the bases can be arranged differently than shown on the fixed platform 902, although the illustrated as orthogonalized and aligned in sub-combinations of Fußpunkte arrangement is advantageous.

This also where it is not kinematically necessary, for example, because the restriction of degrees of freedom by the configuration of the bearing takes place (axes 915 in Fig. 97), because this advantages in the calculation and the manageability of parallel¬ kinematic device with it brings and usually cheaper in production, since in the manufacturing process a re-clamping of the fixed platform or the use of complex dividing device is avoided.

Of course, it is also possible, the illustrated parallel kinematic Vorrichtun¬ gene by a combination of rods with actuators, which are designed as ropes or only to achieve by ropes, if the load is such that no pressure loads occur in the elements designed as ropes can.

As actuators pneumatic or hydraulic cylinder-piston units can be used or it can be electrically or pneumatically operated spindle drives are used, ball screws and electric linear actuators can be used depending on the application.

In the selection of the drives, of course, the length of the working range of the actuator, its load and its environment plays a role, for the expert in the field of production of handling machines or cranks or parallel kinematic device in general, the appropriate drives according to the invention depending on be determined easily in the field of application. Application of the invention to particularly torsionally stable variants with low and over the movement largely linear drive forces:

FIGS. 109-112 show a first variant of a particularly torsionally stiff and thereby light robot or crane construction having the following construction:

On one, possibly about a vertical axis rotatable or along a (not shown) traversable fixed platform 1002, symmetrically to a Mittel¬ level of the device 1006 two rods S5, S5 'hinged articulated and form with their head points together with the head a lying in the plane of symmetry, but in this pivotable about its base actuator Al a triple point TPl. Two fixed-length bars, S6 and symmetrically S6 ', lead from a base point TP2 lying on the fixed platform in the plane of symmetry to two articulation points of the movable platform 1003. An actuator A2 lying in the symmetry plane of the device leads from the triple point TP2 also to a point of attack on the movable platform 1003. The movable platform 1003 is constructed in the illustrated embodiment as a spatial framework, which facilitates the assembly of tools, probes, grippers, cables, etc. and the weight is kept low. With the movable platform 1003 includes a likewise designed as a rod factory arm 1013 with a schematically indicated at its free end tool carrier 1007th

The two head points of the rods S6 and S6 'on the movable platform 1003 are formed as colons and connected by means of rods S4, S4' with the triple point TPl. This appears in the drawing at first glance as a muzzle point of five rods, but it must be remembered that the rods S5, S5 'on the one hand and the rods S4, S4' on the other hand each move like a rigid body and therefore may not be counted twice ,

Furthermore, the device according to FIGS. 109-112 has an asymmetrically extending rod S3 which, in the illustrated embodiment, adjoins one of the articulation points on the movable platform 1003 to its own foot point outside the plane of symmetry the fixed platform 1002 leads and secures the position of the described construction symmetrically to the plane of symmetry.

Furthermore, it can be seen in the illustrated embodiment that the bases of the rods S5 and S5 'are connected to each other by means of a rod S7, this only serves to take over lateral forces which occur due to the triangular design of the rods S5, S5'.

The representation of the foot and head points, as in all the kinematics in their entirety showing representations of this description, purely schematically, the real training of these points, the various embodiments, as explained in the description, or the examples, the in Figs. 91-108 are taken.

A comparison of FIGS. 111 and 112 reveals the large radius of action in this simple structure, in this purely lateral representation, it should be noted that the rod S3 obscures the rods S6, S6 '. It is therefore to be understood that the reference numeral TP2 in FIG. 112 is marked so that the reference line leads to the hidden foot point.

Figs. 113-117 show a variant similar to that described above, wherein only the fixed-length rod S3 has been replaced by an actuator A3, which makes it possible to move the movable platform 1003 out of the plane of symmetry. The indications of symmetry are thus, as in some of the above examples, to refer to the corresponding positioning of the movable platform. For this reason, the same reference numerals are used, the consequences of these exchanges are the following:

The parallel kinematic device 1006 can be pivoted out of the plane of symmetry by the combination of the triple point TP2 with the actuator A3 and the pivotability about the triple point TP1, whereby its range and also, in particular if it is rotatable about a (not shown) vertical axis, the range of Orientation of the tool carrier 1007 increases significantly. On the other hand, as a comparison of FIGS. 109-112 on the one hand with FIGS. 113-117 on the other hand shows directly, changes the construction of the movable platform 1003 together with the arm 113 and tool holder 1007 nothing, in particular their mass remains unchanged, so that it is possible to build such parallel kinematic devices on a kind of modular principle once the size and the load to be absorbed has been established.

Fig. 113 shows the device in a view analogous to the view of Fig. 109 in its symmetrical position, Fig. 114 shows a side view in a displaced position, the inclination of the movable platform 1003 and thus of the arm 1013 and the tool holder 1007 are clear to recognize. That it is actually a side view with respect to the fixed platform 1002 is apparent from the aligned position of the bars S5, S5 '. FIG. 115 shows the situation in a rear view, recognizable by the symmetrical representation of the bars S5, S5 ', and makes clear how strongly the deviation from the symmetrical arrangement can be achieved in a simple manner.

Fig. 116 shows a side view similar to that of Fig. 114, but with the device in a symmetrical position, here also shows a comparison with the biaxial embodiment of FIG. 111, the conformity of the construction and thus the possibility of construction from the kit. Finally, FIG. 117 shows a plan view in order to make clear the achievable angle and position change.

A variant with three actuators, in which, however, the tool carrier does not essentially execute around the basic axis but about the vertical axis, is apparent from the illustrations of FIGS. 118 to 122. Starting from the variant according to FIGS. 109-112 with two actuators, here the rod of fixed length S4 is replaced by an actuator A4. In a comparison of FIG. 111 with FIG. 118, this is immediately obvious. It should also be noted that the actuator A4 in the illustration of FIG. 118 lies in alignment behind the rod S4 'and therefore protrudes beyond the contour of the rod S4' only by the thickening indicating the actuator. From a synopsis of FIGS. 118-122, the great mobility of the movable platform 1003 and the rigidly connected arm 1013 carrying the tool carrier 1007 is shown. Again, it is immediately apparent that on the kinematic device itself except the replacement of the rod S4 by the actuator A4 no change has been made, but to be noted that of course the actuator A4 in its dimensions generally deviates from the actuator A3. But even the articulation points themselves can in most cases be designed identically again, which gives you large lot sizes and saves costs in the production and storage.

In particular, from Fig. 121, the large amount of twisting at a reduced length of the actuator A4 can be seen. The mobility which has a handling robot designed according to FIGS. 18-122 is, in particular, in the painting of automobile bodies and in robots which can be moved along a longitudinal carriageway (in addition to the rotatability of the fixed platform 1002 about its vertical axis), valuable and therefore much appreciated. Here they can achieve a high degree of flexibility in the smallest construction and movement space.

Figs. 123-127 show the logical development of the parallel kinematic devices described above, in this variant both the rod S3 of the device according to Figs. 109-112 and the rod S4 are replaced by actuators. Such Vierachskinematik is possible with serial robots only at great expense and the associated costs and leads to extremely low ratios of payload to dead load, since, as explained above, all drives and guides away from the tool carrier to the fixed platform with the next guide and the next drive must be carried along and transported. As can be seen from the figures and the comparison of this embodiment with the three Aus¬ described embodiments, it requires only the exchange of said rods by actuators, without affecting the structure, the components and thus the mass of the movable platform 1003 and the other components the kinematic device changes something.

From a synopsis of Figs. 123-127 one can see the many possibilities for movement and orientation, in particular it should be pointed out that Fig. 125 is a side view (the rod S5 is aligned with the rod hidden by him S5 ') and the view 126 is a rear view (the rods S5 and S5 'are symmetrical to the "symmetry plane" of the device, as it always has the first device of this series of modified devices and the others when the actuators A3 and A4 assume their normal position). , The invention is not limited to the illustrated and described examples, but can be transferred in different ways to a large number of application areas. In this case, of course, combinations with devices, as explained above, possible, for example in the field of micro manipulators or in the field of medical technology in the small, cranes and earthmoving machines in the large.

The various aspects of the invention explained in the description, such as force corner, choice of plane of symmetry, use of pseudo-triple points, etc., can be linked together in ways other than those described; the selection and combination of these aspects can be easily appreciated by those skilled in the art adapt the respective field of application.

Claims

claims:

1. Kinematic connection of a fixed platform (2) with a movable platform (3) with up to six degrees of freedom in closed kinematic chains, so-called parallel kinematic, wherein the connecting elements actuators: rods of variable length or rods of constant length with variable position of their Base point, possibly partially passive rods: rods of constant length with firmly arranged on the fixed platform foot points, and optionally traction means: ropes, chains, etc., are, characterized in that three connecting elements in the form of a pseudo-triple point (P3 ') on a attack the common point of the movable platform (3), wherein the pseudo-triple point one of the following definitions is sufficient: a) it attacks each of the three fasteners near the points of attack of the other two fasteners on the movable platform; b) There are two of the fasteners closely adjacent to the movable

Platform on, the third connection element on one of the two Verbin¬ approximately elements near its point of application on the movable platform; c) Two of the connecting elements engage together at one point of the movable platform, the third connecting element on one of the two connecting elements near the point of application on the movable platform; d) It attacks a connecting element at a point of the movable platform, the second connecting element on this connecting element near its point of application on the movable platform and the third Verbindungsele¬ ment on the second connecting element near the point of its attack on the first connecting element; e) It attacks a connecting element at a point of the movable platform, the second connecting element on this connecting element near its point of application on the movable platform and the third connecting element on the first connecting element near the point of application of the second connecting element; f) All three connecting elements engage at one point of the movable platform.

2. Kinematic connection according to claim 1, characterized in that it forms a lifting table, the base frame of the fixed platform (2) and the table is the movable platform (3).

3. Lifting table according to claim 2, characterized in that it comprises two articulated parallelograms, formed of bars of constant length, so-called passive bars (Si1, S12, S13, S14), formed essentially parallel to one another and arranged in a fleeting manner relative to each other and, furthermore, that, in plan view of the joint parallels, actuators (Sl 5, Sl 6) extending substantially diagonally therewith and an actuator (S 17) running obliquely in space are arranged between the base frame (2) and the table (3) ,

4. lifting table according to claim 2, characterized in that it comprises three pairs of pointers (22, 22 ', 23) which are each formed of a passive rod and an actuator and two of which (22, 22') aligned with each other and the longitudinal center plane the lifting table are arranged symmetrically and the third (23) is arranged in the longitudinal center plane and mirrored to the other two pairs of pointers, that the

Colon points of the three pairs of pointers end at transverse axes (24, 25) carrying rollers (26) running in rails of the movable platform (3), and in that a transverse bar (S27) is located at the colon of one of the pairs of pointers (22, 22 ', 23 ) attacks.

5. Hub table according to claim 3, characterized in that on at least one of the pointer pairs (22, 22 ') a guide rod (Fl, F2) engages, the position of the movable platform (2) with respect to the transverse axis (24) and thus with respect the fixed platform (2) determined.

6. Lifting table according to claim 2, characterized in that it comprises two pointer pairs auf¬, each of a passive rod (31, 32) and an actuator (S31, S32) are formed and the alignment with each other and the longitudinal center plane of the Hub¬ table are arranged symmetrically, that guide levers (33) between the Platt¬ forms (2, 3) are arranged, which form with the passive rods (31, 32) Scherenmechanis¬ men, and that a transverse bar (S37) at the colon of one of the two pairs of pointers attacks.

7. Kinematic connection according to claim 1, characterized in that it forms a suspension (41, 51, 61) of a monorail, the suspension frame of the fixed platform (2) and its component carrier, the movable platform (3).

8. Hanger (41) of a monorail according to claim 7, characterized in that the movable platform (3) is connected by means of four at the corners of a quadrangle, preferably a rectangle attacking ropes (42) with the fixed platform (2) that two , Preferably parallel actuators (S41, S41 ') at articulation points on the movable platform (3) attack and that an oblique to the ropes and the actuators transverse bar (S47) between the platforms (2, 3) is provided.

9. hangers (41) of a monorail according to claim 7, characterized in that there are two, from bars of constant length, so-called passive rods (S51, S52; S53, S54), formed, mutually substantially parallel and aligned with each other, articulated parallelograms and further that, in plan view, actuators (S55, S56) extending substantially diagonally to the articulated parallelograms and an obliquely extending rod (S57) are arranged between the fixed platform (2) and the movable platform (3).

10. hanger (61) of a monorail according to claim 7, characterized in that it two, each of a rod of constant length, so-called passive rod (S62, S63), and an actuator (S61, S64) formed, each other substantially parallel verlau ¬ fende and aligned mutually arranged, substantially planar four-bar linkages, and that further in plan view of the four-bar linkages substantially diagonally extending actuators (S65, S66) and an obliquely extending in space rod (S67) between the fixed platform (2) and the mobile one

Platform (3) are arranged.

11. Kinematic connection according to claim 1, characterized in that it forms an optionally movable lifting robot, the chassis of the fixed platform (2) and its slide represents the movable platform (3).

12. Lifting robot according to claim 11, characterized in that its kinematics at least one lying in a plane substantially four-bar linkage (15, 16), one leg (13, 18) is formed on the movable platform, with a in wesent¬ has a diagonally extending rod and that a transverse rod (17) engages the bewegli¬ Chen platform (3) at one or near one of the colons of the four-bar linkage and forms a triple point or pseudo-triple point.

13. Lifting robot according to claim 12, characterized in that it has two four-bar linkages (15, 16) which lie symmetrically in relation to a plane of symmetry, preferably in mutually parallel planes.

14. Lifting robot according to claim 12 or 13, characterized in that the diagonal bar is a passive rod.

15. Lifting robot according to claim 12 or 13, characterized in that both the rods of all four-bar linkages (15, 16) and each diagonally extending rod are formed as an actuator.

16. Lifting robot according to claim 15, characterized in that the transverse rod (17) is designed as an actuator.

17. Lifting robot according to one of claims 11 to 16, characterized in that on the movable platform (3) formed legs (13, 18) of the four-bar linkages (15, 16) are skewed to each other, that is, in plan view of the

Levels of four-bar linkages have an angle different from zero degrees and 180 ° to each other.

18. Kinematic connection according to claim 1, characterized in that it forms the at least one of the two parts of an articulated arm (101, 201, 301, 401, 501, 601).

19. Articulated arm according to claim 18, characterized in that it comprises two kinematic connections according to one of claims 1 to 4, wherein the movable platform of the first kinematics (105, 205, 305, 405, 505, 605), the fixed platform of the second kinematics (106, 206, 306, 406, 506, 606).

20. A kinematic connection according to claim 1, characterized in that an elongated arm (3) is fixedly connected to the movable platform (6), at the end of which a tool carrier (7) is mounted around at least one axle (3 '9', 10 '). is arranged rotatable.

21. Kinematic connection according to claim 20, characterized in that the length of the arm (3) between the geometric center of gravity of the head points of the parallel kinematics (2) and the axis of rotation (9 ') is at least half as large as the smallest distance between the geometric center of gravity of the head points and the geometric center of gravity of the points of parallel kinematics (2).

22. Kinematic connection according to claim 21, characterized in that the length of the arm (3) between the geometric center of gravity of the head points of the parallel kinematics (2) and the axis of rotation (9 ') is at least as large as the smallest distance between the center of gravity Heads and center of gravity of parallel kinematics (2).

23. Kinematic connection according to one of claims 20 to 22, characterized gekennzeich¬ net, that the axis (9 ') is arranged substantially normal to the arm axis (3').

24. Kinematic connection according to one of claims 20 to 23, characterized gekennzeich¬ net, that between the arm (3) and the tool carrier (7) a plurality of mutually parallel axes (9 ') are provided.

25. Kinematic connection according to one of claims 20 to 22, characterized gekennzeich¬ net, that the axis (9 ') in conjunction with a cutting them and to her substantially normal extending axis (10') a gimbal suspension for the tool carrier (7 ).

26. Kinematic connection according to one of claims 20 to 25, characterized gekennzeich¬ net, that the arm (3) has a substantially cylindrical shape with an axis (3 '), and that the axis (9') on one about the axis ( 3 ') rotatable component is arranged.

27. Kinematic device according to claim 1, characterized in that it comprises at least one force corner, consisting of a rod (SI) of constant length and a

Actuator (Al, A3) with common head (Kl), which may be a colon or pseudo-double point, on the movable platform (6).

28. Kinematic device according to claim 27, characterized in that the bases of the rod (Sl) and the actuator (Al) only a pivoting of the two elements (Al, Sl) about mutually parallel axes (15) allow, normal to the plane of two elements (Al, Sl) run.

29. Kinematic device according to claim 27, characterized in that the Kopf¬ point (Kl) of the rod (Sl) and the actuator (Al) only a pivoting of the movable platform (6) about an axis (15 ') allow, the normal to the plane of the two elements (Al, Sl) proceeds.

30. Kinematic device according to one of claims 27 to 29, characterized in that the position of the movable platform (6) with respect to the head point (Kl) by an actuator (A2) is fixed.

31. Kinematic device according to claim 27, characterized in that at the head point (Kl) another rod (S2) or actuator (A3) attacks.

32. Kinematic device according to claim 27, characterized in that near the head point (Kl) a rod (S2) or actuator (A3) on the rod (Sl) attacks.

33. Kinematic device according to one of claims 1 to 32, characterized in that the largest distance between the points of attack of the pseudo-triple point connecting elements is less than 20% of the shortest length of the shortest connecting element.

34. Kinematic device according to claim 33, characterized in that the largest distance between the points of attack of the pseudo-triple point forming connecting elements is smaller than 10% of the shortest length of the shortest Verbin¬ tion element.

35. Kinematic device according to claim 1, characterized in that it has exactly one plane of symmetry to which substantially all the connecting elements are arranged symmetrically.

36. A kinematic device according to claim 35, characterized in that the direction of greatest mobility of the movable platform is parallel to, preferably in the plane of symmetry.

37. Kinematic device according to claim 35, characterized in that the direction of the greatest load of the movable platform is parallel to, preferably in the plane of symmetry.

38. Kinematic device according to one of claims 35 to 37, which is designed to be movable, characterized in that the direction of their mobility is parallel to, preferably in the plane of symmetry.